Position and force control by reaction compensation

Position and force control by reaction compensation

The paper presents a new position/force controller, based on the philosophy of the parallel approach. The controller exploits the reaction compensation action of the inverse dynamics position controller and achieves superior transient performance. It incorporates a velocity dependent damping term. S...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: Tanner, H.G., Kyriakopoulos, K.J.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Control systems
Damping
Error correction
Force control
Force measurement
Impedance
Laboratories
Mechanical engineering
Stability
Velocity control
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Beschreibung
Zusammenfassung:The paper presents a new position/force controller, based on the philosophy of the parallel approach. The controller exploits the reaction compensation action of the inverse dynamics position controller and achieves superior transient performance. It incorporates a velocity dependent damping term. Stability is established and conditions for the control parameters are derived. Performance of the proposed controller is verified through computer simulations.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2001.933229