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Simultaneous velocity, impact and force control

Published online by Cambridge University Press:  10 March 2009

Ranko Zotovic Stanisic  and
Ángel Valera Fernández
Ranko Zotovic Stanisic*
Affiliation:
Universidad Politécnica de Valencia, Camino de Vera s/n, 46022 Valencia, Spain
Ángel Valera Fernández
Affiliation:
Universidad Politécnica de Valencia, Camino de Vera s/n, 46022 Valencia, Spain
*
*Corresponding author. E-mail: rzotovic@isa.upv.es
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Summary

In this paper, we propose a control method to achieve three objectives simultaneously: velocity regulation during free motion, impact damping and finally force reference tracking. During impact, the parameters are switched in order to dissipate the energy of the system as fast as possible and the optimal switching criteria are deduced. The possibility of sliding regimes is analysed and the theoretical results are verified in simulations.

Keywords

RobotForce controlImpact ControlSwitching
Type
Article
Information
Robotica , Volume 27 , Issue 7 , December 2009 , pp. 1039 - 1048
Copyright
Copyright © Cambridge University Press 2009

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