Abstract
One of the fundamental requirements for the success of a manipulation task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator’s end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object. In this chapter, performance of operational space motion control schemes is studied first. The concepts of mechanical compliance and impedance are defined, with special regard to the problem of integrating contact force measurements into the control strategy. Then, force control schemes are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. For the planning of control actions to perform an interaction task, natural constraints set by the task geometry and artificial constraints set by the control strategy are established; the constraints are expressed in a suitable constraint frame. The formulation is conveniently exploited to derive a hybrid force/position control scheme.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Bibliography
Anderson R.J., Spong M.W. (1988) Hybrid impedance control of robotic manipulators. IEEE J. Robotics and Automation. 4:549–556.
Chiaverini S. (1990) Controllo in Forza di Manipolatori (in Italian). Tesi di Dottorato di Ricerca, Università degli Studi di Napoli Federico II.
Chiaverini S., Sciavicco L. (1993) The parallel approach to force/position control of robotic manipulators. IEEE Trans. Robotics and Automation. 4:361–373.
Chiaverini S., Siciliano B., Villani L. (1994) Force/position regulation of compliant robot manipulators. IEEE Trans. Automatic Control. 39:647–652.
De Luca A., Manes C, Nicolò F. (1988) A task space decoupling approach to hybrid control of manipulators. In Proc. 2nd IFAC Symp. Robot Control. Karlsruhe, Germany, pp. 157–162.
De Schutter J., Van Brussel H. (1988) Compliant robot motion I. A formalism for specifying compliant motion tasks. Int. J. Robotics Research. 7(4):3–17.
De Schlatter J., Van Brussel H. (1988) Compliant robot motion II. A control approach based on external control loops. Int. J. Robotics Research. 7(4): 18–33.
Eppinger S.D., Seering W.P. (1987) Introduction to dynamic models for robot force control. IEEE Control Systems Mag. 7(2):48–52.
Goldenberg A.A. (1988) Implementation of force and impedance control in robot manipulators. In Proc. 1988 IEEE Int. Conf. Robotics and Automation Philadelphia, Penn., pp. 1626–1632.
Hogan N. (1985) Impedance control: An approach to manipulation: Part I—Theory. ASME J. Dynamic Systems, Measurement, and Control. 107:1–7.
Hogan N. (1985) Impedance control: An approach to manipulation: Part II—Implementation. ASME J. Dynamic Systems, Measurement, and Control. 107:8–16.
Kazerooni H., Houpt P.K., Sheridan T.B. (1986) Robust compliant motion of manipulators, part I: The fundamental concepts of compliant motion. IEEE J. Robotics and Automation. 2:83–96.
Khatib O. (1987) A unified approach for motion and force control of robot manipulators: The operational space formulation. IEEE J. Robotics and Automation. 3:43–53.
Lozano-Pérez T., Mason M.T., Taylor R.H. (1984) Automatic synthesis of fine-motion strategies for robots. Int. J. Robotics Research. 3(1):3–24.
Mason M.T. (1981) Compliance and force control for computer controlled manipulators. IEEE Trans. Systems, Man, and Cybernetics. 6:418–432.
Paul, R.P. (1981) Robot Manipulators: Mathematics, Programming, and Control. MIT Press, Cambridge, Mass.
Paul R.P., Shimano B. (1976) Compliance and control. In Proc. 1976. Joint Automatic Control Conf. San Francisco, Cal., pp. 694–699.
Raibert M.H., Craig J.J. (1981) Hybrid position/force control of manipulators. ASME J. Dynamic Systems, Measurement, and Control. 103:126–133.
Salisbury J.K. (1980) Active stiffness control of a manipulator in Cartesian coordinates. In Proc. 19th IEEE Conf. Decision and Control. Albuquerque, New Mex., pp. 95–100.
Siciliano B., Villani L. (1999) Robot Force Control. Kluwer Academic Publishers, Boston, Mass.
Volpe R., Khosla P. (1993) A theoretical and experimental investigation of explicit force control strategies for manipulators. IEEE Trans, on Automatic Control. 38:1634–1650.
Whitney D.E. (1977) Force feedback control of manipulator fine motions. ASME J. Dynamic Systems, Measurement, and Control. 99:91–97.
Whitney D.E. (1982) Quasi-static assembly of compliantly supported rigid parts. ASME J. Dynamic Systems, Measurement, and Control. 104:65–77.
Whitney D.E. (1987) Historical perspective and state of the art in robot force control. Int. J. Robotics Research. 6(1):3–14.
Yoshikawa T. (1987) Dynamic hybrid position/force control of robot manipulators Description of hand constraints and calculation of joint driving force. IEEE J. Robotics and Automation. 3:386–392.
Yoshikawa T. (1990) Foundations of Robotics. MIT Press, Cambridge, Mass.
Author information
Authors and Affiliations
Rights and permissions
Copyright information
© 2000 Springer-Verlag London
About this chapter
Cite this chapter
Sciavicco, L., Siciliano, B. (2000). Interaction Control. In: Modelling and Control of Robot Manipulators. Advanced Textbooks in Control and Signal Processing. Springer, London. https://doi.org/10.1007/978-1-4471-0449-0_7
Download citation
DOI: https://doi.org/10.1007/978-1-4471-0449-0_7
Publisher Name: Springer, London
Print ISBN: 978-1-85233-221-1
Online ISBN: 978-1-4471-0449-0
eBook Packages: Springer Book Archive