Impact Modeling and Control for Industrial Manipulators

IEEE Control Systems

Volumn 18, Issue 4, 1998, Pages 65-71

  Ferretti, G ^a   Magnani, G ^a   Zavala Rio, A ^b  

^a POLITECNICO DI MILANO   (Italy)

^b NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY AIST   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; FORCE CONTROL; INDUSTRIAL ROBOTS; MATHEMATICAL MODELS; NONLINEAR CONTROL SYSTEMS; UNIVERSAL JOINTS;

COULOMB FRICTION;

MANIPULATORS;

EID: 0032137359     PISSN: 1066033X     EISSN: None     Source Type: Journal    
DOI: 10.1109/37.710879     Document Type: Article

References (19)

1. B. Armstrong, H. Blouvry, P. Dupont, and C. Canudas De Wit, “A survey of models, analysis tools and compensation methods for the control of machines with friction,” Automuticu, vol. 30, no. 7, pp. 1083-1138, 1994.
2. K. J. Astrom and T. Hagglund, PID Controllers: Theory, Design, and Tuning, 2nd ed. ISA, 1995.
3. S. Campostrini and P. Galbardi, “Identifications e simulazione del modello dinamico di robot industriali,” (in Italian), Laurea thesis,Politecnico di Milano. Milano. Italy. 1994.
4. G. Colombina, F. Didot, G. Magnani, and A. Rusconi, “External servicing testbed for automation and robotics,” IEEERobot. Autom.Mag., vol. 3, no. 1, pp. 13-23, 1996.
5. E. Dal Mas and S. Rocchetti, “Modellistica e controllo delle forze d'impatto per manipolatori industriali,” (in Italian), Laurea thesis, Politecnico di Milano, Milano, Italy, 1996.
6. DC Motors-Speed Controls-Servo Systems, Electro-Craft Corporation, 1975.
7. G. Ferretti, G. Magnani, and P. Rocco, “Estimation of resonant transfer functions in the joints of an industrial robot,” in SICICA'94, Budapest, Hungary, pp. 371-376.
8. G. Ferretti, G. Magnani, and P. Rocco, “On the stability of integral force control in case of contact with stiff surfaces,” ASME J. Dynamic Syst., Meas., Contr., vol. 117, no. 4, pp. 547-553,1995.
9. G. Ferretti, G. Magnani, and P. Rocco, “Experimental analysis of the disturbances affecting contact force in industrial robots,” presented at IEEE Int. Conf. Robot. Autom.,Albuquerque, NM, 21-27 Apr., 1997.
10. P. Rocco, G.Ferretti, and G. Magnani, “Implicit force control for industrial robots in contact with stiff surfaces,” Automatica, vol. 33, no. 11, pp. 2041-2047, 1997.
11. J.M. Hyde and M.R. Cutkosky, “Contact transition control: an experimental study,” IEEE Contr. Syst. Mag., vol. 14, no. 1, pp. 25-31, 1994.
12. O. Khatib and J. Burdick, “Motionand force control of robotmanipulators,” in IEEE Int. Conf: Robot. Autom., San Francisco, CA, 1986,pp. 138-146.
13. P. Khosla and R. Volpe,” Atheoretical and experimental investigation of impact control for manipulators,” Int. J. Robot. Res., vol. 12, no. 4, pp. 351-365, 1993.
14. P. Khosla and R. Volpe, “A theoretical and experimental investigation of explicit force control strategies for manipulators,” IEEE Trans. Autom. Contr., vol. 38, pp. 1634-1650, Nov. 1993.
15. K. Kitagaki and M. Uchiyama, “Optimal approach velocity of endeffector to the environment,” in Proc. IEEE Int. Conf. Robot. Autom., Nice, France, May 1992, pp. 1928-1934.
16. M. Spang, “Modeling and control of elastic joint robots,” ASMEJ. DynamicSyst., Meas., Contr., vol. 109,pp. 310-319, 1987.
17. T.J. Tarn, Y. Wu, N.Xi, and A. Isidori, “Force regulation and contact transitioncontro1,” IEEEContr. Syst.Mag., vol. 16, no. 1,pp. 3240,1996.
18. S.H. Murphy and J.T.Wen, “Stability analysis of position and forcecontrolforrohotic arms,” IEEE Trans.Autom. Contr.,vol.36,no. 3,pp. 365-371, Mar. 1991.
19. K. Youcef-Toumi and D.A. Gutz, “Impact and force control: modeling and experiments,” ASMEJ. Dynamic Syst.,Meas., Contr., vol. 116, no. 1,pp. 89-98,1994.