Robot manipulator's contact tasks on uncertain flexible objects

  • Wu, Jianqing (Department of Information and Computer Science, Toyohashi of Technology) ;
  • Luo, Zhiwei (Bio-Mimetic Control Research Center, The Institute of Physical and Chemical Research(RIKEN)) ;
  • Yamakita Masaki (Faculty of Engineering, Tokyo Institute of Technology) ;
  • Ito, Koji (Bio-Mimetic Control Research Center, The Institute of Physical and Chemical Research(RIKEN))
  • Published : 1995.10.01

Abstract

The present paper studies a robot manipulator's contact tasks on the uncertain flexible objects. The flexible object's distributed parameter model is approximated into a lumped "position state-varying" model. By using the well-known nonlinear feedback compensation, the robot's control space is decomposed into the position control subspace and the object's torque control subspace. The optimal state feedback is designed for the position loop, and the robot's contact force is controlled through controlling the resultant torque on the object using model-reference simple adaptive control. Experiments of a PUMA robot interacting with an aluminum plate show the effectiveness of this control approach. approach.