资源描述：
《Adaptive force control of position-velocity controlled robots -- theory and experiment》由会员上传分享，免费在线阅读，更多相关内容在学术论文-天天文库。
1、IEEETRANSACTIONSONROBOTICSANDAUTOMATION,VOL.18,NO.2,APRIL2002121AdaptiveForceControlofPosition/VelocityControlledRobots:TheoryandExperimentJaydeepRoy,Member,IEEE,andLouisL.Whitcomb,Member,IEEEAbstract—Thispaperaddressestheproblemofachievingremainderofthesectionbrieflyr
2、eviewsexistingforcecontrolexactdynamicforcecontrolwithmanipulatorspossessingtheliteratureandmotivatesourwork.low-levelpositionand/orvelocitycontrollerstypicallyemployedTherobotforcecontrolliteraturereportstwobroadap-inindustrialrobotarms.Previouslyreportedapproachesand
3、experimentalresultsarereviewed.Anewadaptiveforcecontrolproachesforthecontrolofrobotsexecutingconstrainedalgorithmforvelocity/positioncontrolledrobotarmsincontactmotion:impedancecontrolandhybrid(force/position)controlwithsurfacesofunknownlinearcomplianceisreported.The[1
4、].Inimpedancecontrol,aprescribedstaticordynamiccontrollerprovablyguaranteesglobalasymptoticconvergencerelationissoughttobemaintainedbetweentherobotendofforcetrajectorytrackingerrorstozerowhentherobotiseffectorforceandposition[2]–[4].Inhybridcontrol,theendunderexactoras
5、ymptoticallyexactinnerloopvelocitycontrol.Anadditionalresultwhichguaranteesarbitrarilysmallforceeffectorforceisexplicitlycontrolledinselecteddirectionserrorsforboundedinnerloopvelocitytrackingerrorsispre-andtheendeffectorpositioniscontrolledintheremainingsented.Compara
6、tiveexperimentsshowthenewadaptivevelocity(complementary)directions[5],[6].Reportedhybridcontrol(position)basedcontrolleranditsnonadaptivecounterparttoapproachescanfurtherbeclassifiedintothreemaincategories:provideperformancesuperiortothatofpreviouslyreported1)explicit(
7、modelbased)hybridcontrolofrigidrobotsinhardposition-basedforcecontrollers.contactwitharigidenvironment,e.g.,[5],[7],[8];2)explicitIndexTerms—Adaptiveforcecontrol,implicitforcecontrol,po-(modelbased)hybridcontrolofrigidrobotsinsoftcontactsition-basedforcecontrol,robotfo
8、rcecontrol,stability.withacompliantenvironment,e.g.,[9]–[11];and3)implicit(position/velocitybased)hybridcontrolofrigi
