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Force Feedback Control of Manipulator Fine Motions
Abstract
The automation of mechanical assembly requires analysis of both force and position information in order to monitor, guide, and guarantee the success of assembly tasks. This information may be obtained by force and position sensors on the assembly device, and used to make small corrections in the paths of parts while they are in contact and coming together. Two issues are involved: what path corrections to make, and how to make them in a stable dynamic fashion, given that such motions will alter the subsequent information. This paper presents a formal representation of vector force feedback strategies and shows that they must be expressed as control problems. Stability bounds are derived based on simple linear actuator models and sampled data control. These bounds are verified using computer simulation and laboratory test apparatus.
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Citations
Cited by
Articulated Hands: Force Control and Kinematic Issues
Salisbury, J. K., & Craig, J. J. (1982) · The International Journal of Robotics Research · doi:10.1177/027836498200100102 · Cited by 1,544
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
Sequential Composition of Dynamically Dexterous Robot Behaviors
Burridge, R. R., Rizzi, A. A., & Koditschek, D. E. (1999) · The International Journal of Robotics Research · doi:10.1177/02783649922066385 · Cited by 446
Force-reflection and shared compliant control in operating telemanipulators with time delay
Kim, W. S., Hannaford, B., & Fejczy, A. K. (1992) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.134272 · Cited by 361
Adaptive linear controller for robotic manipulators
Koivo, A., & Guo, T.-H. (1983) · IEEE Transactions on Automatic Control · doi:10.1109/tac.1983.1103211 · Cited by 331
Metadata
- Authors
- Whitney, D. E.
- Venue
- Journal of Dynamic Systems, Measurement, and Control
- Publisher
- ASME International
- Published
- 1977-06-01
- Volume
- 99
- Issue
- 2
- Pages
- 91-97
- ISSN
- 0022-0434 (ISSN-L)
- 1528-9028
- OpenAlex
- W2034052310
- Cited by
- 720
- References
- 0
- FWCI
- 9.95
- Type
- journal article
- Language
- en
- Open access
- closed
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- Whitney, D. E. (1977). Force Feedback Control of Manipulator Fine Motions. Journal of Dynamic Systems, Measurement, and Control. https://doi.org/10.1115/1.3427095
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
