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A survey of robot interaction control schemes with experimental comparison

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3 Author(s)
Chiaverini, S. ; Dipt. di Autom., Elettromagnetismo Ingegneria dell''Inf. e Matematica Ind., Cassino Univ., Italy ; Siciliano, B. ; Villani, L.

A great many control schemes for a robot manipulator interacting with the environment have been developed in the literature. This paper is aimed at presenting a survey of robot interaction control schemes for a manipulator, the end effector of which comes in contact with a compliant surface. A salient feature of the work is the implementation of the schemes on an industrial robot with open control architecture equipped with a wrist force sensor. Two classes of control strategies are considered, namely, those based on static model-based compensation and those based on dynamic model-based compensation. The former provide a good steady-state behavior, while the latter enhance the behavior during the transient. The performance of the various schemes is compared in the light of disturbance rejection, and a thorough analysis is developed by means of a number of case studies

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:4 ,  Issue: 3 )

Date of Publication:

Sep 1999

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