A joint space formulation for compliant motion control of robot manipulators

Yueshi Shen; Knut Hüper

A joint space formulation for compliant motion control of robot manipulators

Yueshi Shen^*, Knut Hüper

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Citations (Scopus)

Abstract

This paper presents a joint space formulation for robot manipulator's hybrid motion/force control. The motivations come from 1) extending the previous work to general (either constrained or redundant) robots; and 2) improving the robustness against disturbances originated at the joint level. Contact geometry and closed-loop dynamics will be derived in this paper, also a joint space hybrid control scheme will be proposed. At the end, we show some simulation results to verify the applicability of our theory on a constrained (4-degree-of-freedom) robot WAM.

Original language	English
Title of host publication	IEEE International Conference on Mechatronics and Automation, ICMA 2005
Pages	362-369
Number of pages	8
Publication status	Published - 2005
Event	IEEE International Conference on Mechatronics and Automation, ICMA 2005 - Niagara Falls, ON, Canada Duration: 29 Jul 2005 → 1 Aug 2005

Publication series

Name	IEEE International Conference on Mechatronics and Automation, ICMA 2005

Conference

Conference	IEEE International Conference on Mechatronics and Automation, ICMA 2005
Country/Territory	Canada
City	Niagara Falls, ON
Period	29/07/05 → 1/08/05

Cite this

@inproceedings{c292c91f3d8d49adad580aeef98b1fe2,

title = "A joint space formulation for compliant motion control of robot manipulators",

abstract = "This paper presents a joint space formulation for robot manipulator's hybrid motion/force control. The motivations come from 1) extending the previous work to general (either constrained or redundant) robots; and 2) improving the robustness against disturbances originated at the joint level. Contact geometry and closed-loop dynamics will be derived in this paper, also a joint space hybrid control scheme will be proposed. At the end, we show some simulation results to verify the applicability of our theory on a constrained (4-degree-of-freedom) robot WAM.",

keywords = "Compliant motion control, Hybrid motion/force control, Joint space, Projector, Robot manipulator",

author = "Yueshi Shen and Knut H{\"u}per",

year = "2005",

language = "English",

isbn = "0780390458",

series = "IEEE International Conference on Mechatronics and Automation, ICMA 2005",

pages = "362--369",

booktitle = "IEEE International Conference on Mechatronics and Automation, ICMA 2005",

note = "IEEE International Conference on Mechatronics and Automation, ICMA 2005 ; Conference date: 29-07-2005 Through 01-08-2005",

}

Shen, Y & Hüper, K 2005, A joint space formulation for compliant motion control of robot manipulators. in IEEE International Conference on Mechatronics and Automation, ICMA 2005. IEEE International Conference on Mechatronics and Automation, ICMA 2005, pp. 362-369, IEEE International Conference on Mechatronics and Automation, ICMA 2005, Niagara Falls, ON, Canada, 29/07/05.

A joint space formulation for compliant motion control of robot manipulators. / Shen, Yueshi; Hüper, Knut.
IEEE International Conference on Mechatronics and Automation, ICMA 2005. 2005. p. 362-369 (IEEE International Conference on Mechatronics and Automation, ICMA 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - A joint space formulation for compliant motion control of robot manipulators

AU - Shen, Yueshi

AU - Hüper, Knut

PY - 2005

Y1 - 2005

N2 - This paper presents a joint space formulation for robot manipulator's hybrid motion/force control. The motivations come from 1) extending the previous work to general (either constrained or redundant) robots; and 2) improving the robustness against disturbances originated at the joint level. Contact geometry and closed-loop dynamics will be derived in this paper, also a joint space hybrid control scheme will be proposed. At the end, we show some simulation results to verify the applicability of our theory on a constrained (4-degree-of-freedom) robot WAM.

AB - This paper presents a joint space formulation for robot manipulator's hybrid motion/force control. The motivations come from 1) extending the previous work to general (either constrained or redundant) robots; and 2) improving the robustness against disturbances originated at the joint level. Contact geometry and closed-loop dynamics will be derived in this paper, also a joint space hybrid control scheme will be proposed. At the end, we show some simulation results to verify the applicability of our theory on a constrained (4-degree-of-freedom) robot WAM.

KW - Compliant motion control

KW - Hybrid motion/force control

KW - Joint space

KW - Projector

KW - Robot manipulator

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M3 - Conference contribution

SN - 0780390458

T3 - IEEE International Conference on Mechatronics and Automation, ICMA 2005

SP - 362

EP - 369

BT - IEEE International Conference on Mechatronics and Automation, ICMA 2005

T2 - IEEE International Conference on Mechatronics and Automation, ICMA 2005

Y2 - 29 July 2005 through 1 August 2005

ER -

A joint space formulation for compliant motion control of robot manipulators

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