Force and Motion Control of a Constrained Flexible Robot Arm

1994 ◽  
Vol 116 (3) ◽  
pp. 336-343 ◽  
Author(s):  
F. L. Hu ◽  
A. G. Ulsoy
Keyword(s):  
Vibration Control ◽  
Motion Control ◽  
Force Control ◽  
Experimental Studies ◽  
Joint Motion ◽  
Robot Arm ◽  
Flexible Robot ◽  
Force And Motion ◽  
Regulation And Tracking

The results of a study on the combined joint motion control, vibration control, and force control of a constrained rigid-flexible robot arm for both regulation and tracking are presented. A nonlinear modified Corless-Leitmann controller is proposed for control of the flexible motion using only joint actuators. Experimental studies, which demonstrate the effectiveness of the proposed method, are described.

Grasp Transfer Control Using Cartesian Coordinate Two-Link Robot Arm with Prototype Robot Hand Consisting of Stepping Motors, Gears and Plate Springs

2008 ◽  
Vol 2 (5) ◽  
pp. 360-367
Author(s):  
Ping Han ◽  
◽  
Hiroyuki Kojima ◽  
Lingfang Huang ◽  
Saputra Meruadi ◽  
...  
Keyword(s):  
Control System ◽  
Numerical Simulations ◽  
Permanent Magnet ◽  
Motion Control ◽  
Force Control ◽  
Feedforward Control ◽  
Robot Hand ◽  
Robot Arm ◽  
Grasp Force ◽  
Cartesian Coordinate

In this study, the grasp transfer control system by a Cartesian coordinate two-link robot arm with a prototype robot hand is presented. The prototype robot hand consists of permanent-magnet-type stepping motors, gears and plate springs. The grasp force control of the robot hand is performed by a feedforward control of the stepping motors based on the dimension of a grasped object. The Cartesian coordinate two-link robot arm consists of ball screws and hybrid stepping motors. Then the numerical simulations and experiments of the grasp transfer control have been carried out, and it is confirmed that the grasp transfer control could be successfully performed, and the grasp force could be accurately controlled among the motion control of the Cartesian coordinate two-link robot arm.

Force Control of Flexible Robot Arm Using H_∞ Control

2004 ◽  
Vol 2004.10 (0) ◽  
pp. 121-122
Author(s):  
Hiroaki Uchida ◽  
Takao Mori
Keyword(s):  
Force Control ◽  
Robot Arm ◽  
Flexible Robot

Implementation of non-linear tracking control schemes for a serial/parallel topology robot

1997 ◽  
Vol 211 (6) ◽  
pp. 457-470
Author(s):  
L Yao ◽  
S K Spurgeon
Keyword(s):  
Motion Control ◽  
Control Strategy ◽  
Tracking Control ◽  
Experimental Studies ◽  
Joint Motion ◽  
Linear Controller ◽  
Control Schemes ◽  
Non Linear ◽  
Simulation Results ◽  
Three Degree Of Freedom

Results of the application of an advanced non-linear controller to the problem of joint motion control for a robot are presented. For a class of desired state motions a control strategy is expounded which ensures that the system asymptotically tracks the desired motion to any desired degree of accuracy. The results are applied to a three-degree-of-freedom tetrahedral robot. Simulation results and experimental studies are described.

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