Contact transition control via joint acceleration feedback
文献类型：期刊论文
| 作者 | Xu WL(徐卫良); Han JD(韩建达) ; Tso, S.K.; Wang YC(王越超)
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| 刊名 | IEEE Transactions on Industrial Electronics
 |
| 出版日期 | 2000 |
| 卷号 | 47期号:1页码:150-158 |
| 关键词 | acceleration feedback contact transition force control robot |
| ISSN号 | 0278-0046 |
| 产权排序 | 2 |
| 中文摘要 | Stable and controllable transition from free motion to constrained motion is of central importance for robots in contact with the environment in many applications. In this paper, a joint acceleration feedback control scheme of high bandwidth is employed to damp oscillations during the contact transition when the approaching speed does not vanish. In this control scheme, a classical integral force controller is refined by means of joint acceleration and velocity feedback. This is intended to achieve a stable contact transition without need of adjusting the controller parameters adaptive to the unknown or changing environments. Extensive experiments are conducted on the third joint of a three-link direct-drive robot to verify the proposed scheme for the environments of various stiffnesses, including elastic (sponge), less-elastic (cardboard), and hard (steel plate) surfaces. Results are also compared with those by the transition control without the acceleration feedback. The proposed scheme is shown to be promising in terms of robustness, stability and adaptability |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation |
| 研究领域[WOS] | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
| 关键词[WOS] | ROBOTIC MANIPULATORS ; IMPACT CONTROL |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000085298500018 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/6878]  |
| 专题 | 沈阳自动化研究所_沈阳自动化所知识产出(2000年前) |
| 推荐引用方式 GB/T 7714 | Xu WL,Han JD,Tso, S.K.,et al. Contact transition control via joint acceleration feedback[J]. IEEE Transactions on Industrial Electronics,2000,47(1):150-158. |
| APA | Xu WL,Han JD,Tso, S.K.,&Wang YC.(2000).Contact transition control via joint acceleration feedback.IEEE Transactions on Industrial Electronics,47(1),150-158. |
| MLA | Xu WL,et al."Contact transition control via joint acceleration feedback".IEEE Transactions on Industrial Electronics 47.1(2000):150-158. |
入库方式： OAI收割
来源：沈阳自动化研究所
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