Abstract
The problem of control design for robotic arms manipulating unknown flexible payloads is considered in this paper. A novel scheme utilizing a force/torque sensor at the wrist of the manipulator is utilized. This choice of sensor is adequate to glean information about payload vibrations without outfitting the payload with sensors and offers the additional advantage of furnishing a minimum phase system, thus simplifying the control design. A controller utilizing wrist torque feedback from the sensor is designed as a function of the system parameters. An adaptive scheme for on-line identification of these parameters and adaptation of controller parameters is discussed. The proposed scheme is generic in regard to the nature of the flexible payload, as is shown through simulation studies. The scheme is implemented on a single-link manipulator carrying an unknown flexible payload. Simulation and experimental results validate the fact that the adaptive control maintains a robust performance for high speed slewing and varying payloads.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 189-201 |
| Number of pages | 13 |
| Journal | IEEE Transactions on Control Systems Technology |
| Volume | 3 |
| Issue number | 2 |
| DOIs | |
| State | Published - 1995 |
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ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
Positioning of Unknown Flexible Payloads for Robotic Arms Using a Wrist-Mounted Force/Torque Sensor. / Jain, Sandeep; Khorrami, Farshad.
In: IEEE Transactions on Control Systems Technology, Vol. 3, No. 2, 1995, p. 189-201.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Positioning of Unknown Flexible Payloads for Robotic Arms Using a Wrist-Mounted Force/Torque Sensor
AU - Jain, Sandeep
AU - Khorrami, Farshad
PY - 1995
Y1 - 1995
N2 - The problem of control design for robotic arms manipulating unknown flexible payloads is considered in this paper. A novel scheme utilizing a force/torque sensor at the wrist of the manipulator is utilized. This choice of sensor is adequate to glean information about payload vibrations without outfitting the payload with sensors and offers the additional advantage of furnishing a minimum phase system, thus simplifying the control design. A controller utilizing wrist torque feedback from the sensor is designed as a function of the system parameters. An adaptive scheme for on-line identification of these parameters and adaptation of controller parameters is discussed. The proposed scheme is generic in regard to the nature of the flexible payload, as is shown through simulation studies. The scheme is implemented on a single-link manipulator carrying an unknown flexible payload. Simulation and experimental results validate the fact that the adaptive control maintains a robust performance for high speed slewing and varying payloads.
AB - The problem of control design for robotic arms manipulating unknown flexible payloads is considered in this paper. A novel scheme utilizing a force/torque sensor at the wrist of the manipulator is utilized. This choice of sensor is adequate to glean information about payload vibrations without outfitting the payload with sensors and offers the additional advantage of furnishing a minimum phase system, thus simplifying the control design. A controller utilizing wrist torque feedback from the sensor is designed as a function of the system parameters. An adaptive scheme for on-line identification of these parameters and adaptation of controller parameters is discussed. The proposed scheme is generic in regard to the nature of the flexible payload, as is shown through simulation studies. The scheme is implemented on a single-link manipulator carrying an unknown flexible payload. Simulation and experimental results validate the fact that the adaptive control maintains a robust performance for high speed slewing and varying payloads.
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UR - http://www.scopus.com/inward/citedby.url?scp=77449092045&partnerID=8YFLogxK
U2 - 10.1109/87.388127
DO - 10.1109/87.388127
M3 - Article
VL - 3
SP - 189
EP - 201
JO - IEEE Transactions on Control Systems Technology
JF - IEEE Transactions on Control Systems Technology
SN - 1063-6536
IS - 2
ER -