Analysis and experimental verification of a forth order plant model for manipulator force control

The analysis and experimental verification of a fourth order model of the arm/sensor/environment system plant, to be used in evaluation of force control strategies are presented. Both the undamped and underdamped eases are investigated. Approximations and qualifications, based on the reality of our experimental system, help reduce the solution to just a few dominant terms. Comparing these terms with experimental data of the system undergoing small oscillations yields approximate values for all of the parameters in the model. To justify the obtained values and thereby the approximations used, two measures are taken. First, a simulation of the fourth order model is performed, and compared against experimental data obtained from the CMU DD Arm II system. Second, a stability analysis of several force control schemes acting on the modelled plant is reviewed and compared against experimental tests of the controllers. In both cases, the simulation and analysis match closely with the experimental results, confirming the validity of the plant model.<<ETX>>

[1]  T. Mckeown.  Mechanics , 1970, The Mathematics of Fluid Flow Through Porous Media.

[2]  Pradeep K. Khosla,et al.  Theoretical analysis and experimental verification of a manipulator/sensor/environment model for force control , 1990, 1990 IEEE International Conference on Systems, Man, and Cybernetics Conference Proceedings.

[3]  Warren P. Seering,et al.  On dynamic models of robot force control , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[4]  Pradeep K. Khosla,et al.  A Theoretical and Experimental Investigation of Impact Control for Manipulators , 1993, Int. J. Robotics Res..

[5]  Pradeep K. Khosla,et al.  The Equivalence of Second Order Impedance Control and Proportional Gain Explicit Force Control: Theory and Experiments , 1991, ISER.

[6]  Mark W. Spong,et al.  Hybrid impedance control of robotic manipulators , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[7]  Dong Li,et al.  Force control of direct-drive manipulators for surface following , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[8]  Pradeep K. Khosla,et al.  Computational considerations in the implementation of force control strategies , 1994, J. Intell. Robotic Syst..

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

[10]  Warren P. Seering,et al.  Understanding bandwidth limitations in robot force control , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[11]  W. Thomson.  Theory of vibration with applications , 1965 .

[12]  John M. Hollerbach,et al.  Dynamic Stability Issues in Force Control of Manipulators , 1987, 1987 American Control Conference.

[13]  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.

[14]  Richard Volpe,et al.  A theoretical and experimental investigation of explicit force control strategies for manipulators , 1993, IEEE Trans. Autom. Control..

[15]  Daniel E. Whitney,et al.  Historical Perspective and State of the Art in Robot Force Control , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[16]  Mark W. Spong,et al.  Hybrid impedance control of robotic manipulators , 1988, IEEE J. Robotics Autom..