A Unified Framework for Design of Interaction Control Schemes for Robot Manipulators

1995 ◽  
pp. 146-161
Author(s):  
Bruno Siciliano
Keyword(s):  
Robot Manipulators ◽  
Unified Framework ◽  
Interaction Control ◽  
Control Schemes

Resolved-acceleration control of robot manipulators: A critical review with experiments

Robotica ◽  
1998 ◽  
Vol 16 (5) ◽  
pp. 565-573 ◽  
Author(s):  
Fabrizio Caccavale ◽  
Ciro Natale ◽  
Bruno Siciliano ◽  
Luigi Villani
Keyword(s):  
Critical Review ◽  
Robot Manipulators ◽  
Industrial Robot ◽  
Practical Implementation ◽  
Euler Angles ◽  
Acceleration Technique ◽  
Feedback Scheme ◽  
Resolved Acceleration Control ◽  
Control Schemes ◽  
The Stability

The goal of this paper is to provide a critical review of the well-known resolved-acceleration technique for the tracking control problem of robot manipulators in the task space. Various control schemes are surveyed and classified according to the type of end-effector orientation error; namely, those based on Euler angles feedback, quaternion feedback, and angle/axis feedback. In addition to the assessed schemes in the literature, an alternative Euler angles feedback scheme is proposed which shows an advantage in terms of avoidance of representation singularities. An insight into the features of each scheme is given, with special concern to the stability properties of those schemes leading to nonlinear closed-loop dynamic equations. A comparison is carried out in terms of computational burden. Experiments on an industrial robot with open control architecture have been carried out, and the tracking performance of the resolved-acceleration control schemes in a case study involving the occurrence of a representation singularity is evaluated. The pros and cons of each scheme are evidenced in a final discussion focused on practical implementation issues.

scholarly journals A family of hyperbolic-type control schemes for robot manipulators

Kybernetika ◽  
2019 ◽  
pp. 561-585
Author(s):  
Fernando Reyes-Cortes ◽  
Olga Felix-Beltran ◽  
Jaime Cid-Monjaraz ◽  
Gweni Alonso-Aruffo
Keyword(s):  
Robot Manipulators ◽  
Hyperbolic Type ◽  
Control Schemes

scholarly journals Trajectory Tracking Control for Uncertain Robot Manipulators with Repetitive Motions in Task Space

2021 ◽  
Vol 2021 ◽  
pp. 1-17
Author(s):  
Jiutai Liu ◽  
Xiucheng Dong ◽  
Yong Yang ◽  
Hongyu Chen
Keyword(s):  
Trajectory Tracking ◽  
Robot Manipulators ◽  
Tracking Error ◽  
Task Space ◽  
Learning Gain ◽  
Trajectory Tracking Control ◽  
Adaptive Iterative Learning Control ◽  
Tracking Tasks ◽  
Control Schemes ◽  
Composite Energy

This paper aims at the trajectory tracking problem of robot manipulators performing repetitive tasks in task space. Two control schemes are presented to conduct trajectory tracking tasks under uncertain conditions including unmodeled dynamics of robot and additional disturbances. The first controller, pure adaptive iterative learning control (AILC), is based upon the use of a proportional-derivative-like (PD-like) feedback structure, and its design seems very simple in the sense that the only requirement on the learning gain and control parameters is the positive definiteness condition. The second controller is designed with a combination of AILC and neural networks (NNs) where the AILC is adopted to learn the periodic uncertainties that attribute to the repetitive motion of robot manipulators while the add-on NNs are used to approximate and compensate all nonperiodic ones. Moreover, a combined error factor (CEF), which is composed of the weighted sum of tracking error and its derivative, is designed for network updating law to improve the learning speed as well as tracking accuracy of the system. Stabilities of the controllers and convergence are proved rigorously by a Lyapunov-like composite energy function. The simulations performed on two-link manipulator are provided to verify the effectiveness of the proposed controllers. The results of compared simulations illustrate that our proposed control schemes can significantly conduct trajectory tracking tasks.

A survey of robot interaction control schemes with experimental comparison

1999 ◽  
Vol 4 (3) ◽  
pp. 273-285 ◽  
Author(s):  
S. Chiaverini ◽  
B. Siciliano ◽  
L. Villani
Keyword(s):  
Experimental Comparison ◽  
Robot Interaction ◽  
Interaction Control ◽  
Control Schemes

Human-aware Interaction Control of Robot Manipulators Based on Force and Vision

2009 ◽  
pp. 209-225 ◽  
Author(s):  
Luigi Villani ◽  
Agostino De Santis ◽  
Vincenzo Lippiello ◽  
Bruno Siciliano
Keyword(s):  
Robot Manipulators ◽  
Interaction Control

scholarly journals Interaction Control of Robot Manipulators Using Force and Vision

2008 ◽  
Vol 2 (3) ◽  
pp. 257-274 ◽  
Author(s):  
Vincenzo Lippiello ◽  
Bruno Siciliano ◽  
Luigi Villani
Keyword(s):  
Robot Manipulators ◽  
Interaction Control
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