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Contact control for advanced applications of light weight armsMany applications of robotic and teleoperated manipulator arms require operation in contact and non-contact regimes. This paper deals with both regimes and the transition between them with special attention given to problems of flexibility in the links and drives. This is referred to as contact control. Inverse dynamics is used to plan the tip motion of the flexible link so that the free motion can stop very near the contact surface without collision due to overshoot. Contact must occur at a very low speed since the high frequency impact forces are too sudden to be affected by any feedback generated torques applied to a joint at the other end of the link. The effect of approach velocity and surface properties are discussed. Force tracking is implemented by commands to the deflection states of the link and the contact force. This enables a natural transition between tip position and tip force control that is not possible when the arm is treated as rigid. The effect of feedback gain, force trajectory, and desired final force are of particular interest and are studied. Experimental results are presented on a one link arm and the system performance in the overall contact task is analyzed. Extension to multi-link cases with potential applications are discussed.
Document ID
19930074034
Acquisition Source
Legacy CDMS
Document Type
Other
Authors
Book, Wayne J.
(Georgia Inst. of Tech. Atlanta, GA, United States)
Kwon, Dong-Soo
(Georgia Inst. of Tech. Atlanta, GA, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1991
Publication Information
Publication: Manipulation Strategies for Massive Space Payloads
Subject Category
Mechanical Engineering
Accession Number
93N71481
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
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