Assuming a pure elastic environment and a contact force acting only along the normal direction to the undeformed environment surface, the influence of the working parameters of a 2 DOF planar manipulator to the dynamic behaviour of the system is well investigated. The proposed analysis suggests the implementation of a hybrid force-position control and the design of a nonlinear state feedback controller in which the gains change as a function of both the manipulator and the environment configurations. In this way a continuous gain scheduling is carried out: depending on the movement and on the environment interaction each gain is evaluated from a continuous polynomial expression that interpolates the offline evaluation of them, defined with the pole. placement method, for a set of discrete possible working conditions in a linearized manipulator model.
(2009). Influence of the manipulator dynamic properties on the design of a force-position controller . Retrieved from https://hdl.handle.net/10446/248449
Influence of the manipulator dynamic properties on the design of a force-position controller
Righettini, Paolo;
2009-01-01
Abstract
Assuming a pure elastic environment and a contact force acting only along the normal direction to the undeformed environment surface, the influence of the working parameters of a 2 DOF planar manipulator to the dynamic behaviour of the system is well investigated. The proposed analysis suggests the implementation of a hybrid force-position control and the design of a nonlinear state feedback controller in which the gains change as a function of both the manipulator and the environment configurations. In this way a continuous gain scheduling is carried out: depending on the movement and on the environment interaction each gain is evaluated from a continuous polynomial expression that interpolates the offline evaluation of them, defined with the pole. placement method, for a set of discrete possible working conditions in a linearized manipulator model.File | Dimensione del file | Formato | |
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Influence of the manipulator dynamic properties on the design of a force-position controller _ IEEE Conference Publication _ IEEE Xplore.pdf
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