Journal
IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 2, Issue 3, Pages 1288-1295Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2017.2665681
Keywords
Force control; optimization and optimal control
Categories
Ask authors/readers for more resources
This paper addresses the problem of robot implicit force control by means of set invariance theory. The proposed control law improves the invariance control approach by avoiding the definition of a nominal stabilizing controller, while simultaneously ensuring the absence of output overshoots with respect to the reference. The resulting set invariance based controller is first introduced for a single-input single-output system and then extended to multi-input multi-output systems, in order to be applied to the robot implicit force control problem. Its effectiveness is experimentally validated and compared to state-of-the-art approaches on a hybrid force/position task performed with a 6 DOF industrial robot equipped with a force/torque sensor.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available