Force Control

Villani, Luigi; Schutter, Joris De

doi:10.1007/978-3-540-30301-5_8

Cited by 166 publications

(99 citation statements)

References 58 publications

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“…Using virtual work concept, it is not necessary to measure real forces acting on surface with end-effector because they can be equivalently measured in manipulator joints as the f h vector [12]. The force transformation from the robot workspace to the joint workspace is performed by using the transposed Jacobi matrix.…”

Section: Model In Generalized Coordinatesmentioning

confidence: 99%

“…This is caused by wide variety of tasks which they can perform, from manipulation and transportation in different areas (both home and industrial environment), through robots performing machining operations, to specialized rescue platforms [3]. Many of this applications require not only precise position control but also some kind of a force control [12]. Such situation occurs whenever a direct contact between the robot and the environment is necessary for a correct realization of a given task.…”

Section: Introductionmentioning

confidence: 99%

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Position-force control of mobile manipulator – nonadaptive and adaptive case

Kaczmarek

Domski

Mazur

2017

Archives of Control Sciences

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This article presents a control algorithm for nonholonomic mobile manipulators with a simple, geometric holonomic constraint imposed on the robot's arm. A mathematical model in generalized, auxiliary and linearized coordinates is presented, as well as the constrained dynamics of the robotic system. A position-force control law is proposed, both for the fully known robot's model, as well as for the model with parametric uncertainty in the dynamics. Theoretical considerations are supported by the results of computer simulations.

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Section: Model In Generalized Coordinatesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Position-force control of mobile manipulator – nonadaptive and adaptive case

Kaczmarek

Domski

Mazur

2017

Archives of Control Sciences

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“…From a robot learning perspective we focus on extracting artificial constraints [7] that are key for properly executing complex tasks. Typically this requires segmenting the demonstration data into meaningful subactions [5], each with a corresponding set of constraints.…”

Section: Related Workmentioning

confidence: 99%

Analyzing Human Behavior and Bootstrapping Task Constraints from Kinesthetic Demonstrations

Ureche

Billard

2015

Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction Extended Abstracts

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In robot Programming by Demonstration (PbD), the interaction with the human user is key to collecting good demonstrations, learning and finally achieving a good task execution. We therefore take a dual approach in analyzing demonstration data. First we automatically determine task constraints that can be used in the learning phase. Specifically we determine the frame of reference to be used in each part of the task, the important variables for each axis and a stiffness modulation factor. Additionally for bi-manual tasks we determine arm-dominance and spatial or force coordination patterns between the arms. Second we analyze human behavior during demonstration in order to determine how skilled the human user is and what kind of feedback is preferred during the learning interaction. We test this approach on complex tasks requiring sequences of actions, bi-manual or arm-hand coordination and contact on each end effector.

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“…It is also important to control the contact force that the end-effector of the flexible arm exerts on an object or the environment [10]. In this paper, we focus on a force control problem of a one-link flexible Timoshenko arm.…”

Section: Introductionmentioning

confidence: 99%

Contact-Force Control of a Flexible Timoshenko Arm

Endo

Sasaki

Matsuno

2017

IEEE Trans. Automat. Contr.

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Abstract-This paper discusses a contact-force control problem for a flexible arm. This flexible arm includes a Timoshenko beam, and thus we call it the flexible Timoshenko arm. The aim of the force control is to control the contact force at the contact point. To solve this problem, we propose a simple boundary controller and show the exponential stability of the closed-loop system by the frequency domain method. Finally, we describe simulation results carried out to investigate the validity of the proposed controller for the force control problem.

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Force Control

Cited by 166 publications

References 58 publications

Position-force control of mobile manipulator – nonadaptive and adaptive case

Position-force control of mobile manipulator – nonadaptive and adaptive case

Analyzing Human Behavior and Bootstrapping Task Constraints from Kinesthetic Demonstrations

Contact-Force Control of a Flexible Timoshenko Arm

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