Compliance control strategy for robot manipulators using a self-controlled stiffness function

Sang Rok Oh, Ho Chan Kim, Il Hong Suh, Bum Jae You, Chong Won Lee

Research output: Contribution to conferencePaper

9 Citations (Scopus)

Abstract

A compliance control strategy is proposed by using new type of self-controlled stiffness function, where no explicit wrist force/torque sensor is employed. Specifically, the stiffness gain is given as the exponential function of the error between virtually given desired trajectory and actual trajectory, where virtual desired trajectory is designed to be inside the surface of the object to be compliance-controlled. And, a motion speed scheduling technique is also proposed to avoid serious damages due to lack of environmental knowledge and to minimally maintain the task performances. It is experimentally shown that the proposed control method is useful for various manipulator motion types such as path following, initial contact with soft impact and force regulation during contact.

Original languageEnglish
Pages179-184
Number of pages6
StatePublished - 1995 Jan 1
EventProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA
Duration: 1995 Aug 51995 Aug 9

Other

OtherProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3)
CityPittsburgh, PA, USA
Period95/08/595/08/9

Fingerprint

Compliance control
Manipulators
Trajectories
Stiffness
Robots
Exponential functions
Torque
Scheduling
Sensors

Cite this

Oh, S. R., Kim, H. C., Suh, I. H., You, B. J., & Lee, C. W. (1995). Compliance control strategy for robot manipulators using a self-controlled stiffness function. 179-184. Paper presented at Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, .
Oh, Sang Rok ; Kim, Ho Chan ; Suh, Il Hong ; You, Bum Jae ; Lee, Chong Won. / Compliance control strategy for robot manipulators using a self-controlled stiffness function. Paper presented at Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, .6 p.
@conference{16f455f45d2e4dfd8aacfd9dbc7762f6,
title = "Compliance control strategy for robot manipulators using a self-controlled stiffness function",
abstract = "A compliance control strategy is proposed by using new type of self-controlled stiffness function, where no explicit wrist force/torque sensor is employed. Specifically, the stiffness gain is given as the exponential function of the error between virtually given desired trajectory and actual trajectory, where virtual desired trajectory is designed to be inside the surface of the object to be compliance-controlled. And, a motion speed scheduling technique is also proposed to avoid serious damages due to lack of environmental knowledge and to minimally maintain the task performances. It is experimentally shown that the proposed control method is useful for various manipulator motion types such as path following, initial contact with soft impact and force regulation during contact.",
author = "Oh, {Sang Rok} and Kim, {Ho Chan} and Suh, {Il Hong} and You, {Bum Jae} and Lee, {Chong Won}",
year = "1995",
month = "1",
day = "1",
language = "English",
pages = "179--184",
note = "null ; Conference date: 05-08-1995 Through 09-08-1995",

}

Oh, SR, Kim, HC, Suh, IH, You, BJ & Lee, CW 1995, 'Compliance control strategy for robot manipulators using a self-controlled stiffness function', Paper presented at Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, 95/08/5 - 95/08/9 pp. 179-184.

Compliance control strategy for robot manipulators using a self-controlled stiffness function. / Oh, Sang Rok; Kim, Ho Chan; Suh, Il Hong; You, Bum Jae; Lee, Chong Won.

1995. 179-184 Paper presented at Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, .

Research output: Contribution to conferencePaper

TY - CONF

T1 - Compliance control strategy for robot manipulators using a self-controlled stiffness function

AU - Oh, Sang Rok

AU - Kim, Ho Chan

AU - Suh, Il Hong

AU - You, Bum Jae

AU - Lee, Chong Won

PY - 1995/1/1

Y1 - 1995/1/1

N2 - A compliance control strategy is proposed by using new type of self-controlled stiffness function, where no explicit wrist force/torque sensor is employed. Specifically, the stiffness gain is given as the exponential function of the error between virtually given desired trajectory and actual trajectory, where virtual desired trajectory is designed to be inside the surface of the object to be compliance-controlled. And, a motion speed scheduling technique is also proposed to avoid serious damages due to lack of environmental knowledge and to minimally maintain the task performances. It is experimentally shown that the proposed control method is useful for various manipulator motion types such as path following, initial contact with soft impact and force regulation during contact.

AB - A compliance control strategy is proposed by using new type of self-controlled stiffness function, where no explicit wrist force/torque sensor is employed. Specifically, the stiffness gain is given as the exponential function of the error between virtually given desired trajectory and actual trajectory, where virtual desired trajectory is designed to be inside the surface of the object to be compliance-controlled. And, a motion speed scheduling technique is also proposed to avoid serious damages due to lack of environmental knowledge and to minimally maintain the task performances. It is experimentally shown that the proposed control method is useful for various manipulator motion types such as path following, initial contact with soft impact and force regulation during contact.

UR - http://www.scopus.com/inward/record.url?scp=0029182880&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:0029182880

SP - 179

EP - 184

ER -

Oh SR, Kim HC, Suh IH, You BJ, Lee CW. Compliance control strategy for robot manipulators using a self-controlled stiffness function. 1995. Paper presented at Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, .