Experimental study of contact transition control incorporating 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.
|
| 刊名 | IEEE/ASME Transactions on Mechatronics
 |
| 出版日期 | 2000 |
| 卷号 | 5期号:3页码:292-301 |
| 关键词 | acceleration feedback contact transition force tracking control robot velocity feedback |
| ISSN号 | 1083-4435 |
| 产权排序 | 2 |
| 中文摘要 | Joint acceleration and velocity feedbacks are incorporated into a classical internal force control of a robot in contact with the environment. This is intended to achieve a robust contact transition and force tracking performance for varying unknown environments, without any need of adjusting the controller parameters. A unified control structure is proposed for free motion, contact transition, and constrained motion in view of the consumption of the initial kinetic energy generated by a nonzero impact velocity. The influence of the velocity and acceleration feedbacks, which are introduced especially for suppressing the transition oscillation, on the postcontact tracking performance is discussed. Extensive experiments are conducted on the third joint of a three-link direct-drive robot to verify the proposed scheme for environments of various stiffnesses, including elastic (sponge), less elastic (cardboard), and hard (steel plate) surfaces. Results are compared with those obtained by the transition control scheme without the acceleration feedback. The ability of the proposed control scheme in resisting the force disturbance during the postcontact period is also experimentally investigated |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical |
| 研究领域[WOS] | Automation & Control Systems ; Engineering |
| 关键词[WOS] | IMPACT CONTROL ; ROBOTIC MANIPULATORS |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000089419000009 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/6881]  |
| 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.. Experimental study of contact transition control incorporating joint acceleration feedback[J]. IEEE/ASME Transactions on Mechatronics,2000,5(3):292-301. |
| APA | Xu WL,Han JD,&Tso, S.K..(2000).Experimental study of contact transition control incorporating joint acceleration feedback.IEEE/ASME Transactions on Mechatronics,5(3),292-301. |
| MLA | Xu WL,et al."Experimental study of contact transition control incorporating joint acceleration feedback".IEEE/ASME Transactions on Mechatronics 5.3(2000):292-301. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。