Experimental implementation of impedance based control schemes for assembly task

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 29, Issue 1, 2000, Pages 93-110

  Chan, S P ^a   Liaw, H C ^a  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

Author keywords

[No Author keywords available]

Indexed keywords

FORCE CONTROL; MOTION CONTROL; PRINTED CIRCUIT BOARDS; ROBOTIC ASSEMBLY;

GENERALIZED IMPEDANCE;

MANIPULATORS;

EID: 0034275483     PISSN: 09210296     EISSN: None     Source Type: Journal    
DOI: 10.1023/A:1008148625497     Document Type: Article

References (18)

1. An, C. H., Atkeson, C. G., Griffiths, J. D., and Hollerbach, J. M.: Experimental evaluation of feedforward and computed torque control, IEEE Trans. Robotics Automat. 5(3) (1989), 368-373.
2. Anderson, R. J. and Spong, M. W.: Hybrid impedance control of robotic manipulators, IEEE J. Robotics Automat. 4(5) (1988), 549-556.
3. Chan, S. P. and Liaw, H. C.: A parameter estimation technique for SCARA robots, in: Proc. of the 3rd Internat. Conf. on Automation, Robotics and Computer Vision (ICARCV'94), Singapore, 1994, pp. 1487-1491.
4. Chiaverini, S. and Sciavicco, L.: The parallel approach to force/position control of robotic manipulators, IEEE Trans. Robotics Automat. 9(4) (1993), 361-373.
5. Hogan, N.: Impedance control: An approach to manipulation: Part I: Theory, Part II: Implementation, Part III: Applications, ASME J. Dynamic Systems Meas. Control 107 (1985), 1-24.
6. Hogan, N.: Stable execution of contact tasks using impedance control, in: Proc. of IEEE Internat. Conf. on Robotics and Automation, Raleigh, NC, March 1987, pp. 1047-1054.
7. Karerooni, H., Sheridan, T. B., and Houpt, P. K.: Robust compliant motion for manipulators, Part I: The fundamental concepts of compliant motion, Part II: Design method, IEEE J. Robotics Automat. 2(2) (1986), 83-105.
8. Khatib, O.: A unified approach for motion and force control of robot manipulators: The operational space formulation, IEEE J. Robotics Automat. 3(1) (1987), 43-53.
9. Khosla, P. K.: Estimation of robot dynamic parameters: Theory and application, Internat. J. Robotics Automat. 3(1) (1988), 35-41.
10. Lee, S. and Lee, H. S.: Intelligent control of manipulators interacting with an uncertain environment based on generalized impedance, in: Proc. of IEEE Internat. Symp. on Intelligent Control, Arlington, Virginia, August 1991, pp. 61-66.
11. Liegeois, A., Dombre, E., and Borrel, P.: Learning and control for a compliant computer-controlled manipulator, IEEE Trans. Automat. Control 25(6) (1980), 1097-1102.
12. Luo, Z. W. and Ito, M.: Control design of robot for compliant manipulation on dynamic environments, IEEE Trans. Robotics Automat. 9(3) (1993), 286-296.
13. Makino, H. and Furuya, N.: SCARA robot and its family, in: Proc. of the 3rd Internat. Conf. on Assembly Automation, Germany, 1982, pp. 433-444.
14. Tsujimura, T. and Yabuta, T.: Adaptive force control of screwdriving with a positioning-control manipulator, Robotics Autonom. Systems 7 (1991), 57-65.
15. Volpe, R. and Khosla, P.: Computational considerations in the implementation of force control strategies, J. Intelligent Robotic Systems 9 (1994), 121-148.
16. Whitcomb, L. L., Rizzi, A. A., and Koditschek, D. E.: Comparative experiments with a new adaptive controller for robot arms, IEEE Trans. Robotics Automat. 9(1) (1993), 59-70.
17. Whitney, D. E.: Historical perspective and state of the art in robot force control, Internat. J. Robotics Res. 6(1) (1987), 3-14.
18. Yao, B., Chan, S. P., and Wang, D.: Unified formulation of variable structure control schemes for robot manipulators, IEEE Trans. Automat. Control 39(2) (1994), 371-376.