Adaptive force control of position-velocity controlled robots -- theory and experiment英文教材.pdf

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 18, NO. 2, APRIL 2002 121 Adaptive Force Control of Position/Velocity Controlled Robots: Theory and Experiment Jaydeep Roy, Member, IEEE, and Louis L. Whitcomb, Member, IEEE Abstract— This paper addresses the problem of achieving remainder of the section briefly reviews existing force control exact dynamic force control with manipulators possessing the literature and motivates our work. low-level position and/or velocity controllers typically employed The robot force control literature reports two broad ap- in industrial robot arms. Previously reported approaches and experimental results are reviewed. A new adaptive force control proaches for the control of robots executing constrained algorithm for velocity/position controlled robot arms in contact motion: impedance control and hybrid (force/position) control with surfaces of unknown linear compliance is reported. The [1]. In impedance control, a prescribed static or dynamic controller provably guarantees global asymptotic convergence relation is sought to be maintained between the robot end of force trajectory tracking errors to zero when the robot is effector force and position [2]–[4]. In hybrid control, the end under exact or asymptotically exact inner loop velocity control. An additional result which guarantees arbitrarily small force effector force is explicitly controlled in selected directions e