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Force and contact transient control using nonlinear PD control

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3 Author(s)
Yangming Xu ; Biorobotics Lab., McGill Univ., Montreal, Que., Canada ; J. M. Hollerbach ; Donghai Ma

Describes the use of a nonlinear proportional and derivative (NPD) controller for both non-contact transition force control (NCTFC) (zero velocity when contact occurs) and contact transition force control (CTFC) (non-zero velocity when contact occurs). The authors present a gain design method for NCTFC. Simulations and experiments on the Sarcos Dextrous Arm show that PD control becomes unstable for CTFC while NPD control is stable and reaches the steady state quickly. Experiments with human subjects on NCTFC and CTFC are also presented

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994