Paper Info
Title
Guaranteeing prescribed performance and contact maintenance via an approximation free robot force/position controller.
Abstract
In this paper, we consider the problem of force/position tracking for a robot with revolute joints in compliant contact with a kinematically known planar surface. A novel controller is designed capable of guaranteeing, for an a priori known nonsingular initial robot condition, (i) certain predefined minimum speed of response, maximum steady state error as well as overshoot concerning the force/position tracking errors, (ii) contact maintenance and (iii) bounded closed loop signals. No information regarding either the robot dynamic model or the force deformation model is required and no approximation structures are utilized to estimate them. As the tracking performance is a priori guaranteed irrespectively of the control gains selection, the only concern is to adopt those values that lead to reasonable input torques. Finally, a comparative simulation study on a 6-DOF robot illustrates the performance of the proposed controller.
Year
DOI
Venue
2012
10.1016/j.automatica.2011.07.009
Automatica
Keywords
DocType
Volume
Force/position tracking,Approximation free controller,Prescribed performance,Contact maintenance
Journal
48
Issue
ISSN
Citations 
2
0005-1098
12
PageRank 
References 
Authors
0.67
0
3
Name
Order
Citations
PageRank
Charalampos P. Bechlioulis156631.81
Zoe Doulgeri233247.11
George A. Rovithakis374945.73