Journal of Advanced Marine Engineering and Technology

The Korean Society of Marine Engineering (한국마린엔지니어링학회)
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Position/Force Control of a Robot by a Nonlinear Compensator and Feedforward Control

비선형 보상기와 피드포워드 제어에 의한 로봇의 위치/힘 제어

  • 황용연 (부경대학교 공과대학 제어계측공학과)
  • Published : 1998.03.01
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Abstract

This paper deals with a hybrid position/force control of a robot which is moving on the constrained object with constant force. The proposed controller is composed of a position and force controller. The position controller has a nonlinear compensator which is based on the dynamic robot model and the force controller is attached by feedforward element. A direct drive robot with hard nonlinearity which is controlled by the proposed algorithm has moved on the constrained object with a high stiffness and low stiffness. The results show that the proposed controller has more vibration suppression effects which is occurred to the constrained object with a high stiffness, than a existing feedback controller, and accurate force control can be obtained by comparatively a small feedback gain.

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References

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