Robust compliant motion for manipulators, part I: The fundamental concepts of compliant motion

Abstract

A method for the design of controllers of constrained manipulators in the presence of model uncertainties is developed. The controller must carry out fine maneuvers when the manipulator is not constrained, and compliant motion, with or without interaction-force measurement, when the manipulator is constrained. At the same time stability must be preserved if bounded uncertainties are allowed in modelling the manipulators. Stability of the manipulator and environment as a whole and the preservation of stability in the face of changes are two fundamental issues that have been considered in the design method. A set of practical design specifications in the frequency domain is presented that is meaningful from the standpoint of control theory and assures the desired compliant motion in the Cartesian coordinate frame and stability in the presence of bounded uncertainties. This approach also assures the global stability of the manipulator and its environment. The consequence of inexact achievement of performance specifications on stability is also specified. Part I concerns the fundamentals of compliant motion, while Part I1 is devoted to the controller design method.

Position/Force Control for a Single Leg of a Quadruped Robot in an Operation Space

“…The one-dimensional model is shown in Figure 4, When researching a manipulator arm, some scholars including Whitney [7] , Salisbury [8] , Hogan [9] , Kazarooni [10] , Maples and Becker [11] , studied impedance control methods. On the basis of their work, a kind of position/force control law named Position Control Within Inner Force Loop (PCWIFL) is proposed in this paper.…”

Robot-Environment Interaction Control of a Flexible Joint Light Weight Robot Manipulator

“…The so-called impedance control is one of the most intuitive approaches of indirect force controls, which provides a unified framework for achieving compliant behaviour when a robot contacts with an unknown environment. The impedance control approach was extensively theorized by Hogan [9] and experimentally verified by Kazerooni et al [10]. AlbuSchaffer [11,12] investigated Cartesian impedance control with the DLR light weight arms.…”

Flexible FPGA-based controller architecture for five-fingered dexterous robot hand with effective impedance control

“…Impedance control is one possible approach to achieve compliant behavior, which was extensively theorized by Hogan [10] and experimentally applied by Kazerooni [11]. The basic principle of the impedance law is defined as a mass-spring-damp system, where the interacting force is designed to be a linear combination of the position error (spring), first derivative of the position (damping), and second derivative of the position (inertia).…”