The DOI matches its Crossref record; 17 of the 17 references it cites were found in a registry or an index.
The parallel approach to force/position control of robotic manipulators
Abstract
Force/position control strategies provide an effective framework to deal with tasks involving interaction with the environment. In this paper the parallel approach to force/position control of robotic manipulators is presented. It shows a complete use of the available sensor measurements by operating the control action in a full-dimensional space without using selection matrices. Conflicting situations between the position and force tasks are managed using a priority strategy: the force control loop is designed to prevail over the position control loop. This choice ensures limited deviations from the prescribed force trajectory in every situation, guaranteeing automatic recovery from unplanned collisions. A dynamic force/position parallel control law is presented and its performance in presence of an elastic environment is analyzed; simplification of the dynamic control law is also discussed leading to a PID-type parallel controller. Two case studies are worked out that show the effectiveness of the approach in application to an industrial robot.>
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Citations
Cites
Impedance Control: An Approach to Manipulation: Part I—Theory
Hogan, N. (1985) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3140702 · Cited by 3,673
Hybrid Position/Force Control of Manipulators
Raibert, M. H., & Craig, J. J. (1981) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3139652 · Cited by 3,015
Khatib, O. (1987) · IEEE Journal on Robotics and Automation · doi:10.1109/jra.1987.1087068 · Cited by 2,940
Impedance Control: An Approach to Manipulation
Hogan, N. (1984) · 1984 American Control Conference · doi:10.23919/acc.1984.4788393 · Cited by 2,929
Compliance and Force Control for Computer Controlled Manipulators
Mason, M. T. (1981) · IEEE Transactions on Systems, Man, and Cybernetics · doi:10.1109/tsmc.1981.4308708 · Cited by 1,542
Resolved-acceleration control of mechanical manipulators
Luh, J., Walker, M., & Paul, R. (1980) · IEEE Transactions on Automatic Control · doi:10.1109/tac.1980.1102367 · Cited by 1,203
Force Feedback Control of Manipulator Fine Motions
Whitney, D. E. (1977) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3427095 · Cited by 720
Hybrid impedance control of robotic manipulators
Anderson, R. J., & Spong, M. W. (1988) · IEEE Journal on Robotics and Automation · doi:10.1109/56.20440 · Cited by 421
Force and position control of manipulators during constrained motion tasks
Mills, J. K., & Goldenberg, A. A. (1989) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.88015 · Cited by 385
Impedance control stability properties in common implementations
Lawrence, D. A. (2003) · Proceedings. 1988 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.1988.12222 · Cited by 290
Metadata
- Authors
- Chiaverini, S., & Sciavicco, L.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 1993
- Volume
- 9
- Issue
- 4
- Pages
- 361-373
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2166211466
- Cited by
- 326
- References
- 17
- FWCI
- 13.60
- Type
- journal article
- Language
- en
- Open access
- closed
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