Robust, non-linear impedance control for robot manipulators

The work presented here is a practical, non-linear controller design methodology for robot manipulators that guarantees: 1) the robot end-point follows an input command vector "closely" when the robot is not constrained by the environment, and 2) the contact force is a function of the same input command vector (used in the unconstrained environment) when the robot is constrained by the environment. The controller is capable of "handling" both types (constrained and unconstrained) of maneuverings, and is robust to bounded uncertainties in robot dynamics. The controller does not need any hardware or software switch for transition between unconstrained and constrained maneuvering. In this design method, the structural compliancy of the manipulator has also been considered. A set of experiments were carried out to describe how this unified approach can develop electronic compliancy in a robot manipulator. The control architecture has been described by two different methods; frequency domain, and input/output time domain properties.[25,26]

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

[2]  Thomas B. Sheridan,et al.  The fundamental concepts of robust compliant motion for robot manipulators , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[3]  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.

[4]  Homayoon Kazerooni,et al.  An Approach to Automated Deburring by Robot Manipulators , 1986 .

[5]  M. Athans,et al.  Gain and phase margin for multiloop LQG regulators. [Linear-Quadratic-Gaussian theory] , 1977 .

[6]  Neville Hogan,et al.  Impedance control of industrial robots , 1984 .

[7]  Daniel E. Whitney,et al.  Force Feedback Control of Manipulator Fine Motions , 1977 .

[8]  Jean-Jacques E. Slotine,et al.  Sliding controller design for non-linear systems , 1984 .

[9]  M. Vidyasagar,et al.  Roboust nonlinear control of robot manipulators , 1985, 1985 24th IEEE Conference on Decision and Control.

[10]  N. Hogan.  Adaptive control of mechanical impedance by coactivation of antagonist muscles , 1984 .

[11]  M. Athans,et al.  Robustness results in linear-quadratic Gaussian based multivariable control designs , 1981 .

[12]  Homayoon Kazerooni,et al.  Automated roboting deburring using electronic compliancy; Impedance control , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[13]  G. Stein,et al.  Multivariable feedback design: Concepts for a classical/modern synthesis , 1981 .

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

[15]  Thomas B. Sheridan,et al.  Robust compliant motion for manipulators, part II: Design method , 1986, IEEE J. Robotics Autom..

[16]  Michael Athans,et al.  Gain and phase margin for multiloop LQG regulators , 1976, 1976 IEEE Conference on Decision and Control including the 15th Symposium on Adaptive Processes.

[17]  T. B. Sheridan,et al.  An Approach to Loop Transfer Recovery using Eigenstructure Assignment , 1985, 1985 American Control Conference.

[18]  Jean-Jacques E. Slotine,et al.  The Robust Control of Robot Manipulators , 1985 .

[19]  Homayoon Kazerooni,et al.  On the loop transfer recovery , 1986 .

[20]  D.L. Elliott,et al.  Feedback systems: Input-output properties , 1976, Proceedings of the IEEE.