By Topic

A stable force/position controller for robot manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
S. Chiaverini ; Dipartimento di Inf. e Sistemistica, Napoli Federico II Univ., Italy ; B. Siciliano ; L. Villani

A force/position controller for robot manipulators in contact with an elasticity compliant surface is presented. The controller consists of proportional-derivative (PD) action on the position loop and proportional-integral (PI) action on the force loop, together with gravity compensation and desired contact force feedforward. Asymptotic stability of the system in the neighborhood of the equilibrium state is proven via the classical Lyapunov method with the LaSalle invariance set theorem. A modification of the Lyapunov function leads to deriving an exponential stability result

Published in:

Decision and Control, 1992., Proceedings of the 31st IEEE Conference on

Date of Conference:

1992