Abstract
In this paper, the control of robots with elastic joints in contact with dynamic environment is considered. It is shown how control laws synthesized for the robots with rigid joints interacting with dynamic environment can also be used in the case of robots with elastic joints. The proposed control laws are based on a robot model interacting with dynamic environment, including the dynamics of actuators and the elasticity of joints. The proposed control laws possess two feedback loops: the outer, serving for “on-line” calculation of the motor shaft angle based on the position error or the contact force error, and the inner one, serving for performing stabilization around the calculated motor shaft angle. Simulation results which exhibit the application of the appropriate control laws are also presented.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.References
Raibert, M. H. and Craig, J. J.: Hybrid position/force control of manipulators, ASME J. Dyn. Systems Meas. Control 102(3) (1981), 126–133.
Mason, M. T.: Compliance and force control for computer controlled manipulators, IEEE Trans. Systems Man Cybernet. 11(6) (1981), 418–432.
Hogan, N.: Impedance control: An approach to manipulation, Part 1 – Theory, Part 2 – Implementation, Part 3 – Application, ASME J. Dyn. Systems Meas. Control 107 (1985), 1–24.
Kazeroni, H. and Sheridan, T. B.: Robust compliant motion for manipulators, Part 1: The fundamental concepts of compliant motion, IEEE J. Robotics Automat. RA-2(2) (1986), 83–92.
Duffy, J.: The fallacy of modern hybrid control theory that is based on “orthogonal complements” of twist and wrench spaces, J. Robotic Systems 7(2) (1990), 667–686.
Vukobratović, M. and Ekalo, Y.: Unified approach to control laws synthesis for robotic manipulators in contact with dynamic environment, Tutorial S5: Force and contact control of robotic systems, in: Proc. of IEEE Conf. on Robotics and Automation, Atlanta, 1993, pp. 213–229.
Vukobratović, M. and Ekalo, Y.: New approach to control of robotic manipulators interacting with dynamic environment, Robotica 14 (1996), 31–39.
Luo, Z. and Ito, M.: Control design of robot for compliant manipulation on dynamic environments, IEEE Trans. Robotics Automat. 9(2) (1993), 286–296.
Luo, Z., Ito, K., and Ito, M.:Multiple robot manipulators compliant manipulation on dynamical environments, in: Proc. of IROS, 1993, pp. 1927–1934.
Vukobratović, M.: The role of the environment dynamics in contact force control of manipulation robots, ASME J. Dyn. Systems Meas. Control 119(1) (1997), 86–89.
Ekalo, Y. and Vukobratović, M.: Robust and adaptive position/force stabilization of robotic manipulators in contact tasks, Robotica 11 (1993), 373–386.
Ekalo, Y. and Vukobratović, M.: Adaptive stabilization of motion and forces in contact task for robotic manipulators with non-stationary dynamics, Int. J. Robotics Automat. 9 (1994), 91–98.
Kirćanski, N., Timčenko, A., and Vukobratović, M.: Position control of robot manipulators with elastic joints using force feedback, J. Robotic Systems 7(4) (1990).
Spong, M. W.: Modeling and control of elastic joint robots, ASME J. Dyn. Systems Meas. Control 109 (1987), 310–319.
Spong, M. W., Khorasani, K., and Kokotovic, P. V.: An integral manifold approach to the feedback control of flexible joints robots, IEEE J. Robotics Automat. RA-3(4) (1987).
Spong, M. W.: On the force control problem for flexible joint manipulators, IEEE Trans. Automat. Control AC-34 (1989), 107–111.
Mills, J.: Stability and control of elastic-joint robotic manipulators during constrained motion tasks, IEEE Trans. Robotics Automat. 8(1) (1992), 119–125.
Lin, T. and Goldenberg, A.: Adaptive and sliding control of flexible joint robots in constrained motion, in: Proc. IEEE of Int. Conf. on SMC, Vol. 5, 1995, pp. 4161–4166.
Krishnan, H.: Robot force and position control including effects of joint flexibility and actuator dynamics, in: Proc. of 26th Int. Symp. on Industrial Robots, 1995.
De Luca, A. and Manes, C.: Hybrid force/position control for robots in contact with dynamic environments, in: Proc. of Robot Control SYROCO '91, pp. 377–382.
Colgate, J. and Hogan, N.: Robust control of dynamically interacting systems, Internat. J. Control 48 (1988), 65–88.
An, C. H. and Hollerbach, J. M.: The role of dynamic models in cartesian force control of manipulators, Robotic Res. 8(4) (1989), 51–72.
Vukobratović, M. and Katić, D.: Stabilizing position/force control of robots interacting with dynamic environment by learning connectionist structures, J. of IFAC Automatica 32(12) (1996), 1733–1739.
Šešlija, D.: On the environment interacting masses in robotic machining, in: ECPD Int. Conf. on Advanced Robotics, Intelligent Automation and Active Systems, Bremen, 1997, pp. 391–396.
Stokić, D. and Vukobratović, M.: Contribution to practical stability analysis of robots interacting with dynamic environment, in: Proc. of 1st ECPD Conf. on Advanced Robotics, Intelligent Automation and Active Systems, Athens, 1995, pp. 693–698.
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Vukobratović, M., Matijević, V. & Potkonjak, V. Control of Robots with Elastic Joints Interacting with Dynamic Environment. Journal of Intelligent and Robotic Systems 23, 87–100 (1998). https://doi.org/10.1023/A:1008064702964
Issue Date:
DOI: https://doi.org/10.1023/A:1008064702964