Robust Motion Modification for Robot Manipulators in Constrained Environments
Küçük Resim Yok
Tarih
2018
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
IEEE
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
This paper presents a controller structure for the continuous and robust modification of motion for multi body systems encountering contact with an environment during free motion. The presented algorithm relies on the reformulation of the position tracking error with a term proportional to the reaction force. With the proposed method, fusion of the position and the force controllers can be achieved which provide the robot with certain level of compliance. The derivation of the proposed method is followed by experiments made on a pantograph mechanism actuated by direct drive linear motors. The results obtained from the experiments illustrate the success of the proposed control architecture in providing a natural behavior for the robotic systems working in constrained environments.
Açıklama
6th International Conference on Control Engineering and Information Technology (CEIT) -- OCT 25-27, 2018 -- Istanbul, TURKEY
Anahtar Kelimeler
Motion Modification, Constrained Motion Control, Force Control, Hybrid Control, Disturbance-Observer, Position Control, Force Control, Validation
Kaynak
2018 6th International Conference on Control Engineering & Information Technology (Ceit)
WoS Q Değeri
N/A
Scopus Q Değeri
N/A
