| 203B3 |
|---|
| Robust Position and Force Control of Robot Manipulators in Contact with Surface with Unknown Flexibility |
| AUTHORS |
| Daiki Moriyama, Makoto Wada, Masahiro Oya (Kyushu Institute of Technology) Toshinori Suehiro (Mechanics and Electronics Research Institute Fukuoka Industrial Technology Center) |
| ABSTRACT |
| The position/force control will be required many environments such as medical institutions, industrial world, space, home and so on. Therefore, many researchers focus on research of position/force control schemes for robot manipulators in contact with constraint surface. However, in the nearly works, the characteristic of constraint surface is assumed rigid. The researches dealing with unknown stiffness of constraint surfaces are still very few. As for as authors know, there is no scheme that can ensure arbitrary tracking performance with respect to position and force. To aim for establishing a robust control scheme for the case when manipulators in contact with surface with unknown mass, stiffness, viscosity, and friction, in the paper a new robust position/force tracking controller is developed for two-link manipulators. It is assumed that the constraint surface is two degree freedom system with unknown parameters, mass, stiffness, viscosity, and friction. Then, using the analysis of the derivative of Lyapunov function, robust force tracking controller and robust position tracking controller are developed independently. The developed controller has the following features. First, tracking error between position of end-effector and its desired trajectory can be arbitrarily reduced, and its desired trajectory can be also arbitrarily reduced. Second, the configuration of the robust controller developed here becomes very simple. |
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Annual Conference 2002