ROBUST AND STABLE ROBOTIC FORCE CONTROL

Michael Short, Kevin Burn

Abstract

To perform many complex tasks, modern robots often require robust and stable force control. Linear, fixed-gain controllers can only provide adequate performance when they are tuned to specific task requirements, but if the environmental stiffness at the robot/task interface is unknown or varies significantly, performance is degraded. This paper describes the design of a robotic force controller that has a simple architecture yet is robust to bounded uncertainty in the environmental stiffness. Generic stability conditions for the controller are developed and a simple design methodology is formulated. The controller design is tested on an experimental robot, and is shown to perform favourably in the presence of large changes in environmental operating conditions.

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Paper Citation


in Harvard Style

Short M. and Burn K. (2007). ROBUST AND STABLE ROBOTIC FORCE CONTROL . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 978-972-8865-84-9, pages 256-261. DOI: 10.5220/0001618302560261


in Bibtex Style

@conference{icinco07,
author={Michael Short and Kevin Burn},
title={ROBUST AND STABLE ROBOTIC FORCE CONTROL},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},
year={2007},
pages={256-261},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001618302560261},
isbn={978-972-8865-84-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - ROBUST AND STABLE ROBOTIC FORCE CONTROL
SN - 978-972-8865-84-9
AU - Short M.
AU - Burn K.
PY - 2007
SP - 256
EP - 261
DO - 10.5220/0001618302560261