To perform many complex tasks, modern robots often require robust and stable force control. Linear, fixed- gain controllers can only provide adequate performance when they are tuned to specific task requirements, but if the environmental stiffness at the robot/task interface is unknown or varies significantly, performance is degraded. This paper describes the design of a robotic force controller that has a simple architecture yet is robust to bounded uncertainty in the environmental stiffness. Generic stability conditions for the controller are developed and a simple design methodology is formulated. The controller design is tested on an experimental robot, and is shown to perform favourably in the presence of large changes in environmental operating conditions.
|Number of pages||6|
|Publication status||Published - 1 Dec 2007|
|Event||4th International Conference on Informatics in Control, Automation and Robotics - Angers, France|
Duration: 9 May 2007 → 12 May 2007
|Conference||4th International Conference on Informatics in Control, Automation and Robotics|
|Abbreviated title||ICINCO 2007|
|Period||9/05/07 → 12/05/07|