Robust and stable robotic force control

Michael Short, Kevin Burn

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Pages256-261
Number of pages6
Publication statusPublished - 1 Dec 2007
Event4th International Conference on Informatics in Control, Automation and Robotics - Angers, France
Duration: 9 May 200712 May 2007

Conference

Conference4th International Conference on Informatics in Control, Automation and Robotics
Abbreviated titleICINCO 2007
CountryFrance
CityAngers
Period9/05/0712/05/07

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  • Cite this

    Short, M., & Burn, K. (2007). Robust and stable robotic force control. 256-261. Paper presented at 4th International Conference on Informatics in Control, Automation and Robotics, Angers, France.