Robot arm force control through system linearization by nonlinear feedbackBased on a differential geometric feedback linearization technique for nonlinear time-varying systems, a dynamic force control method for robot arms is developed. It uses active force-moment measurements at the robot wrist. The controller design fully incorporate the robot-arm dynamics and is so general that it can be reduced to pure position control, hybrid position/force control, pure force control. The controller design is independent of the tasks to be performed. Computer simulations show that the controller improves the position error by a factor of ten in cases in which position errors generate force measurements. A theorem on linearization of time-varying system is also presented.
Document ID
19890024683
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Tarn, T. J. (Washington University Saint Louis, MO, United States)
Bejczy, A. K. (California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)
Yun, Xiaoping (Pennsylvania, University Philadelphia, United States)
Date Acquired
August 13, 2013
Publication Date
January 1, 1988
Subject Category
Behavioral Sciences
Meeting Information
Meeting: 1988 IEEE International Conference on Robotics and Automation