A rigorous framework for interactive robot control

DOI10.1080/0020717021000032078MaRDI QIDQ4800359zbMATH OpenOpenAlexFDO

Authors Stefano Stramigioli, Ernest D. Fasse, Jan C. Willems

Publication date 2002

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/0020717021000032078

zbMATH Keywords

differential-geometric methodsenvironmentimpedance controlmathematical modelingmechanical systemsroboticsstiffness control

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

Review text

The present paper presents a rigorous, analytical framework for interactive control methods such as stiffness and impedance control. The framework is proper also to analyze controllers for robots whose purpose is to interact with the environment. Some elements from differential geometry are given and they are used in kinematic and dynamic analysis of mechanical systems common in robotics. The framework is demonstrated by some examples.

Recommendations

• A dynamic-compensation approach to impedance control of robot manipulators
• Robot impedance control with nondiagonal stiffness
• Control of interactive robotic interfaces. A port-Hamiltonian approach
• Robust impedance control for SEAs
• On Position/Force Control of Robot Interacting With Dynamic Environment in Cartesian Space

Cites work

• scientific article; zbMATH DE number 1285312 (Why is no real title available?)
• scientific article; zbMATH DE number 821258 (Why is no real title available?)
• Impedance Control: An Approach to Manipulation: Part I—Theory
• Modeling and IPC control of interactive mechanical systems. A coordinate-free approach
• Nonintrinsicity of References in Rigid-Body Motions
• Nonlinear control systems.
• On the \(6\times 6\) Cartesian stiffness matrix for three-dimensional motions.
• Paradigms and puzzles in the theory of dynamical systems

Cited in

(6)

• Interaction control of robot manipulators. Six degrees-of-freedom tasks.
• Robust impedance control for SEAs
• Trends in Control and Decision-Making for Human–Robot Collaboration Systems
• Human-robot Interaction and Robot Control
• Energy-aware robotics
• Control of interactive robotic interfaces. A port-Hamiltonian approach

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