Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

A Compliance Control Method for Robot Manipulators Using Nonlinear Stiffness Adaptation

비선형 강성 조절 방법을 이용한 로봇 매니퓰레이터의 컴플라이언스 제어 방법

  • 김병호 (한양대학교 전자컴퓨터공학부, 한국과학기술연구원 지능제어연구센터) ;
  • 오상록 (한국과학기술원 지능제어연구센터) ;
  • 서일홍 (한양대학교 전자컴퓨터공학부) ;
  • 이병주 (한양대학교 전자컴퓨터공학부)
  • Published : 2000.08.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper proposes a compliance control strategy for the robot manipulators accidentally interact-ing with an unknown environment. In this proposed method each in the diagonal stiffness matrix corre-sponding to the task coordinate in a Cartesian space is adaptively adjusted during contact along the corresponding axis based on the contact force with its environment. This method can be used for both unconstrained and constrained motions without any switching mechanism which often causes undesirable instability and/or vibrational motion of the end-effector. The experimental results show the effectiveness of the proposed method by employing a two link direct drive manipulator interacting with an unknown environment.

Keywords

References

  1. M. Vukobratovic and A. Tuneski, 'Contact control concepts in manipulation robotics-an overview,' IEEE Trans. on Industr. Electro., vol. 41, no. 1, pp. 12-24, February, 1994 https://doi.org/10.1109/41.281603
  2. M. H. Raibert and J. J. Craig, 'Hybrid position/force control of manipulators,' ASME J. Dyn. Syst. Meas. Contr., vol. 102, no. 1, pp. 126-133, 1981
  3. T. Yoshikawa, 'Dynamic hybrid position/force control of robot manipulators-description of hand constrains and calculation of joint driving force,' IEEE J. of Robotics and Automation, vol. 33, pp. 386-392, 1987
  4. S. -R. Oh, H. C. Kim, I. H. Suh, B. -J. You, and C. -W. Lee, 'A compliance control strategy for robot manipulators using a self-controlled stiffness function,' Proc. of IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 179-184, August, 1995 https://doi.org/10.1109/IROS.1995.525881
  5. S. Chiaverini, B. Sicilliano, and L. Villani, 'Force and position tracking: parallel control with stiffness adaptation,' IEEE Control Systems, vol. 18, no. 1, pp. 27-33, 1998 https://doi.org/10.1109/37.648626
  6. J. K. Salisbury, 'Active stiffness control of manipulator in cartesian coordinates,' Proc. of IEEE 19th Conf. on Decision and Control, pp. 95-100, 1980 https://doi.org/10.1109/CDC.1980.272026
  7. VxWorks Manual, Real-Time Operating System, Wind River Systems, 1992