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Titolo:
FORCE REGULATION AND CONTACT TRANSITION CONTROL
Autore:
TARN TJ; WU YY; XI N; ISIDORI A;
Indirizzi:
WASHINGTON UNIV,DEPT SYST SCI & MATH ST LOUIS MO 63130 UNIV ROMA LA SAPIENZA,DIPARTIMENTO INFORMAT & SISTEMIST I-00184 ROME ITALY
Titolo Testata:
Control systems magazine
fascicolo: 1, volume: 16, anno: 1996,
pagine: 32 - 40
SICI:
0272-1708(1996)16:1<32:FRACTC>2.0.ZU;2-3
Fonte:
ISI
Lingua:
ENG
Soggetto:
IMPEDANCE CONTROL; MANIPULATION; MOTION;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Science Citation Index Expanded
Citazioni:
21
Recensione:
Indirizzi per estratti:
Citazione:
T.J. Tarn et al., "FORCE REGULATION AND CONTACT TRANSITION CONTROL", Control systems magazine, 16(1), 1996, pp. 32-40

Abstract

In this article, a new sensor-referenced control method using positive acceleration feedback together with a switching control strategy is developed for robot impact control and force regulation. The robot dynamic model is feedback-linearized and decoupled for the free-motion mode, the phase-transition mode, and the constrained-motion mode. Considering the detection of the impact as an event, the event-driven switching control strategy is used to deal with the inadvertent loss of contact of the robotic manipulator. Bouncing can be eliminated after finite switches, A stable transition can be achieved with a nonzero impact velocity; large impact forces can be avoided and the output force can be regulated after contact is established. Stability analysis based onthe Lyapunov-like method is given for the proposed system. The schemewas implemented and tested on a 6 DOF PUMA 560 robot arm.

ASDD Area Sistemi Dipartimentali e Documentali, Università di Bologna, Catalogo delle riviste ed altri periodici
Documento generato il 28/11/20 alle ore 21:11:27