Position and force controls for two coordinating robots

Two different control schemes, position model referenced control (PMRC) and force model referenced control (FMRC), are developed for a simplified two robots model with one interacting axis. The dynamic stability of the position (or force) control under the FMRC (or PMRC) is analyzed. Results indicate that PMRC, although providing better dynamic performance of the position control, may degrade the dynamic performance of the force control. However, FMRC can provide better dynamic performance of both position and force control.<<ETX>>

[1]  Pham Thuong Cat,et al.  Robust adaptive axis control of manipulator , 1987 .

[2]  John J. Craig,et al.  Hybrid position/force control of manipulators , 1981 .

[3]  W. Seering,et al.  Introduction to dynamic models for robot force control , 1987, IEEE Control Systems Magazine.

[4]  R. Roberts,et al.  The effect of wrist force sensor stiffness on the control of robot manipulators , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[5]  J. Salisbury,et al.  Active stiffness control of a manipulator in cartesian coordinates , 1980, 1980 19th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes.

[6]  Hugh F. Durrant-Whyte,et al.  Practical adaptive control of actuated spatial mechanisms , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[7]  N. McClamroch,et al.  Closed loop properties of constrained robots using position, velocity and force feedback , 1987, 26th IEEE Conference on Decision and Control.

[8]  Hiroaki Ozaki,et al.  On the force feedback control of a manipulator with a compliant wrist force sensor , 1983 .

[9]  M. Kazerooni,et al.  On the stability of the robot compliant motion control (input output approach) , 1987, 26th IEEE Conference on Decision and Control.

[10]  Steven Dubowsky,et al.  The application of model-referenced adaptive control to robotic manipulators , 1979 .

[11]  Matthew T. Mason,et al.  Compliance and Force Control for Computer Controlled Manipulators , 1981, IEEE Transactions on Systems, Man, and Cybernetics.

[12]  Masayoshi Tomizuka,et al.  Model reference adaptive control and repetitive control for robot manipulators , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[13]  Joris De Schutter,et al.  Improved force control laws for advanced tracking applications , 1988, ICRA.

[14]  Yuan F. Zheng,et al.  Compliant coordination control of two moving industrial robots , 1987, 26th IEEE Conference on Decision and Control.

[15]  Masayoshi Tomizuka,et al.  EXPERIMENTAL STUDY ON DISCRETE TIME ADAPTIVE CONTROL OF AN INDUSTRIAL ROBOT ARM , 1987 .

[16]  C. T. Leondes,et al.  A Model Referenced Parameter Tracking Technique for Adaptive Control Systems I-The Principle of Adaptation , 1963, IEEE Transactions on Applications and Industry.

[17]  Tsuneo Yoshikawa,et al.  Dynamic hybrid position/force control of robot manipulators--Description of hand constraints and calculation of joint driving force , 1986, IEEE Journal on Robotics and Automation.

[18]  H. Harry Asada,et al.  A method for the design of hybrid position/Force controllers for manipulators constrained by contact with the environment , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.