Skip to main content
SpringerLink
Log in

Impact Modelling and Control of Robotic Links

  • Chapter
  • First Online:
Ramsete

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 270))

  • 661 Accesses

Abstract

Impact modelling and control can be fundamental in robotics, for the execution of tasks that require the interaction of the robot with an external body, ensuring that a stable contact is achieved without rebounds. This chapter examines various issues related to impact modelling and control, devoting a particular attention to the main results of the last decade. After the illustration of some general approaches to impact modelling in robotics applications, various impact control schemes are surveyed, highlighting the possible problems that can limit in practice their performances. For this reason, particular attention is devoted to those control schemes whose performances have been also experimentally tested. A general classification between switching and non-switching impact control schemes is introduced, and some control solutions, developed by the author following a non-switching approach, are illustrated and discussed.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 84.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 109.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Similar content being viewed by others

References

  1. Brogliato B 1999 Nonsmooth Mechanics: Models, Dynamics, Control (2nd ed) Springer-Verlag, London, UK

    Google Scholar 

  2. Brogliato B, Niculescu S-I, Orhant P 1997 On the control of finite-dimensional mechanical systems with unilateral constraints. IEEE Transactions on Automatic Control 42:200–215

    Article  MATH  MathSciNet  Google Scholar 

  3. Chapnik B, Heppler G, Aplevich J 1991 Modelling impact on a one-link flexible robotic arm. IEEE Transactions on Robotics and Automation 7:479–488

    Article  Google Scholar 

  4. Dorato P, Fortuna L, Muscato G 1992 Robust control for unstructured perturbations: an introduction Springer-Verlag, Berlin, D

    MATH  Google Scholar 

  5. Doyle J C, Francis B A, Tannenbaum A R 1992 Feedback Control Theory Macmillan, New York, NY

    Google Scholar 

  6. Ferretti G, Magnani G, Zavala Rio A 1998 Impact modeling and control for industrial manipulators. IEEE Control Systems Magazine 18(4):65–71

    Article  Google Scholar 

  7. Goldsmith W 1960 Impact Edward Arnold Publisher, London, UK

    MATH  Google Scholar 

  8. Hogan N 1985 Impedance control: An approach to manipulation: Part I-Theory, Part II-Implementation, and Part II-Applications. ASME Journal of Dynamic Systems, Measurements and Control 107:1–24

    Article  MATH  Google Scholar 

  9. Hurmuzlu Y, Chang T H 1992 Rigid body collisions of a special class of planar kinematic chains. IEEE Transactions on Systems, Man and Cybernetics 22:964–971

    Article  MATH  Google Scholar 

  10. Hurmuzlu Y, Marghitu D B 1994 Rigid body collision of planar kinematic chains with multiple contact points. International Journal of Robotics Research 13:82–92

    Article  Google Scholar 

  11. Indri M 2000 Impact control in robotics: A brief survey. In: Preprints of 6th IFAC Symposium on Robot Control Vienna, A, pp 97–102

    Google Scholar 

  12. Indri M, Tornambé A 1999 Impact model and control of two multi-dof cooperating manipulators. IEEE Transactions on Automatic Control 44:1297–1303

    Article  MATH  Google Scholar 

  13. Indri M, Tornambé A 2000 Robust control of a simple mechanical system subject to impacts. In: Preprints of 3rd IFAC Symposium on Robust Control Design Prague, CZ

    Google Scholar 

  14. Indri M, Tornambé A 2000 Design of an output feedback control law for a mechanical system subject to impacts: Output regulation and impact insensitivity. In: Proceedings of 2nd International Symposium on Impact and Friction of Solids, Structures and Machines Montréal, CAN

    Google Scholar 

  15. Indri M, Tornambé A 2000 Impact control of a single-link robot striking different environments: Theoretical and experimental investigation. European Journal of Control 6(4)

    Google Scholar 

  16. Indri M, Tornambé A 2001 On the design of a position feedback control law for a simple mechanical system subject to impacts. International Journal of Control, 74

    Google Scholar 

  17. Johnson W 1972 Impact Strength of Materials Crane, Russak and Co, New York, NY

    MATH  Google Scholar 

  18. Kazerooni H 1991 Robust nonlinear impedance control for robot manipulators. In: Proceedings of 1991 IEEE International Conference on Robotics and Automation Sacramento, CA, pp 741–750

    Google Scholar 

  19. Lin Z C, Patel R V, Balafoutis C A 1995 Impact reduction for redundant manipulators using augmented impedance control. Journal of Robotic Systems 12:301–313

    Article  MATH  Google Scholar 

  20. Mandal N, Payandeh S 1995 Control strategies for robotic contact tasks: An experimental study. Journal of Robotic Systems 12:67–92

    Article  Google Scholar 

  21. Mills J K, Lokhorst D M 1993 Control of robotic manipulators during general task execution: A discontinuous control approach. International Journal of Robotics Research 12:146–163

    Article  Google Scholar 

  22. Niculescu S-I, Brogliato B 1999 Force measurement time-delays and contact instability phenomenon. European Journal of Control 5:275–289

    Google Scholar 

  23. Tarn T-J, Wu Y, Xi N, Isidori A 1996 Force regulation and contact transition control. IEEE Control Systems Magazine 16(1):32–40

    Article  Google Scholar 

  24. Tornambé A 1996 Global regulation of a planar robot arm striking a surface. IEEE Transactions on Automatic Control 41:1517–1521

    Article  MATH  Google Scholar 

  25. Tornambé A 1999 Modeling and control of impact in mechanical systems: Theory and experimental results. IEEE Transactions on Automatic Control 44:294–309

    Article  MATH  Google Scholar 

  26. Tornambé A 1999 Discussion on “Force measurement time-delays and contact instability phenomenon”, by SI Niculescu and B Brogliato. European Journal of Control 5:290–292

    Google Scholar 

  27. Volpe R, Khosla P 1993 A theoretical and experimental investigation of impact control for manipulators. International Journal of Robotics Research 13:351–365

    Google Scholar 

  28. Volpe R, Khosla P 1993 A theoretical and experimental investigation of explicit torque control strategies for manipulators. IEEE Transactions on Automatic Control 38:1634–1649

    Article  MathSciNet  Google Scholar 

  29. Youcef-Toumi K, Gutz D A 1994 Impact and force control: modelling and experiments. ASME Journal of Dynamic Systems, Measurements and Control 116:89–98

    Article  Google Scholar 

  30. Zukas J A 1982 Impact Dynamics Wiley, New York, NY

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Dipartimento di Automatica e Informatica, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129, Torino, Italy

    Marina Indri

Authors
  1. Marina Indri
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Dipartimento di Informatica Sistemi e Produzione, Università di Roma “Tor Vergata”, Via Tor Vergata 110, 00133, Roma, Italy

    Salvatore Nicosia

  2. Dipartimento di Informatica e Sistemistica, Università di Napoli Federico II, Via Claudio 21, 80125, Napoli, Italy

    Bruno Siciliano

  3. Centro “E. Piaggio”, Università di Pisa, Via Diotisalvi 2, 56126, Pisa, Italy

    Antonio Bicchi

  4. Dipartimento di Ingegneria Elettronica e dell’Informazione, Università di Perugia, Via G. Duranti 93, 06125, Perugia, Italy

    Paolo Valigi

Rights and permissions

Reprints and permissions

Copyright information

© 2001 Springer-Verlag Berlin Heidelberg

About this chapter

Cite this chapter

Indri, M. (2001). Impact Modelling and Control of Robotic Links. In: Nicosia, S., Siciliano, B., Bicchi, A., Valigi, P. (eds) Ramsete. Lecture Notes in Control and Information Sciences, vol 270. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45000-9_7

Download citation

  • DOI: https://doi.org/10.1007/3-540-45000-9_7

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-42090-3

  • Online ISBN: 978-3-540-45000-9

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation