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Design of force/position controllers for manipulatorsThe paper presents simple methods for the design of adaptive force and position controllers for robot manipulators within the hybrid control architecture. The force controller is composed of an adaptive PID feedback controller, an auxiliary signal and a force feedforward term, and achieves tracking of desired force setpoints in the constraint directions. The position controller consists of adaptive feedback and feedforward controllers and an auxiliary signal; and accomplishes tracking of desired position trajectories in the free directions. The controllers are capable of compensating for dynamic cross-couplings that exist between the position and force control loops in the hybrid control architecture. The adaptive controllers do not require knowledge of the complex dynamic model or parameter values of the manipulator or the environment. The proposed control schemes are computationally fast and suitable for implementation in on-line control with high sampling rates.
Document ID
19870063155
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Seraji, H.
(California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)
Date Acquired
August 13, 2013
Publication Date
January 1, 1987
Subject Category
Cybernetics
Report/Patent Number
AIAA PAPER 87-2267
Accession Number
87A50429
Distribution Limits
Public
Copyright
Other

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