ROBUST AND STABLE ROBOTIC FORCE CONTROL

Michael Short, Kevin Burn

2007

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.

Paper Citation

in Harvard Style

Short M. and Burn K. (2007). ROBUST AND STABLE ROBOTIC FORCE CONTROL . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 978-972-8865-84-9, pages 256-261. DOI: 10.5220/0001618302560261

in Bibtex Style

@conference{icinco07,
author={Michael Short and Kevin Burn},
title={ROBUST AND STABLE ROBOTIC FORCE CONTROL},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},
year={2007},
pages={256-261},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001618302560261},
isbn={978-972-8865-84-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - ROBUST AND STABLE ROBOTIC FORCE CONTROL
SN - 978-972-8865-84-9
AU - Short M.
AU - Burn K.
PY - 2007
SP - 256
EP - 261
DO - 10.5220/0001618302560261