Generalized acceleration control of robot manipulators with nonlinear active damping

  title={Generalized acceleration control of robot manipulators with nonlinear active damping},
  author={H. P. Qian and Joris De Schutter},
  journal={[1993] Proceedings IEEE International Conference on Robotics and Automation},
  pages={480-486 vol.2}
A hybrid position/force control algorithm for generic robot manipulators (RM), namely generalized acceleration control with nonlinear active damping, is introduced. This algorithm gives fast and stable response without demanding high sampling rate, even if the contact stiffness between the robot end-effector and the environment is very high. It also allows relatively fast impact of the end-effector with the environment without yielding extra force overshoot. The algorithm maintains stable and… CONTINUE READING

Figures and Topics from this paper.


Publications referenced by this paper.

A new computational structure for realtime dynamics

A. Isaguirre, M. Hashimoto, R. P. Paul, V. Hayward
  • Int. J. of Robotics Research,
  • 1992

Stabilizing robot force control through low pass filtering with low cut off frequency

H.P. Qian, J. De Schutter
  • [1992] Proceedings of the 31st IEEE Conference on Decision and Control
  • 1992

Joint servoing for robust manipulator force control

  • Proceedings., IEEE International Conference on Robotics and Automation
  • 1990

A unified approach for motion and force control of robot manipulators : the operational space formulation ”

M. Hashimoto A. Isaguirre
  • Int . J . of Robotics Research
  • 1988

An approach to the development of real time robot models ”

M. Vukobratovic Timcenko
  • IEEE Jour . of Robotics and Automation
  • 1987

Dynamics of robots with digital force control ”

A. Steven, L. Maunder
  • CSME Mechanical Engineering Forum
  • 1983