Contact transition and force tracking control with joint acceleration feedback damping
文献类型：会议论文
| 作者 | Han JD(韩建达) ; 徐伟力.; Wang YC(王越超); Tan DL(谈大龙)
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| 出版日期 | 1999 |
| 会议名称 | 1999 IEEE Canadian Conference on Electrical and Computer Engineering 'Engineering Solutions for the Next Millennium' |
| 会议日期 | May 9-12, 1999 |
| 会议地点 | Edmonton, Alberta, Can |
| 关键词 | Acceleration control Damping Manipulators Mathematical models Parameter estimation System stability |
| 页码 | 1362-1367 |
| 中文摘要 | Joint acceleration feedback control of high bandwidth is employed to damp oscillations during both the contact transition and force tracking phase. 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 for adjusting the controller parameters adaptive to the unknown or changing environments, and also to stabilize the force tracking control in the presence of abrupt disturbances during the post-contact phase. Extensive experiments are conducted on the third joint of a three-link direct-drive robot to verify the proposed scheme for various stiffness of the contacted environments, including elastic (sponge) less elastic (cardboard) and hard (steel plate) surfaces. Results are compared with experimental ones by transition control without acceleration feedback. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议主办者 | IEEE |
| 会议录 | 1999 IEEE Canadian Conference on Electrical and Computer Engineering 'Engineering Solutions for the Next Millennium'
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| 源URL | [http://ir.sia.cn/handle/173321/7753]  |
| 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 | Han JD,徐伟力.,Wang YC,et al. Contact transition and force tracking control with joint acceleration feedback damping[C]. 见:1999 IEEE Canadian Conference on Electrical and Computer Engineering 'Engineering Solutions for the Next Millennium'. Edmonton, Alberta, Can. May 9-12, 1999. |
入库方式： OAI收割
来源：沈阳自动化研究所
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