Target Tracking Manipulation Theories for Combined Force and Position Control in Open and Closed Loop Manipulators

[+] Author and Article Information
David J. Giblin

Department of Mechanical Engineering, University of Connecticut, Storrs, CT 06269dgiblin@engr.uconn.edu

Mu Zongliang

Department of Mechanical Engineering, University of Connecticut, Storrs, CT 06269z.mu@genaissance.com

Kazem Kazerounian

Department of Mechanical Engineering, University of Connecticut, Storrs, CT 06269kazem@engr.uconn.edu

ZhongXue Gan

 Robotics Technology, ABB, Windsor, CT 06095zhongxue.gan@us.abb.com

J. Mech. Des 129(3), 326-333 (Feb 28, 2006) (8 pages) doi:10.1115/1.2406104 History: Received May 16, 2005; Revised February 28, 2006

This paper presents a new manipulation theory for controlling compliant motions of a robotic manipulator. In previous closed loop control methods, both direct kinematics and inverse kinematics of a manipulator must be resolved to convert feedback force and position data from Cartesian space to joint space. However, in many cases, the solution of direct kinematics in a parallel manipulator or the solution of inverse kinematics in a serial manipulator is not easily available. In this study, the force and position data are packed into one set of “motion feedback,” by replacing the force errors with virtual motion quantities, or one set of “force feedback,” by replacing motion errors with virtual force quantities. The joint torques are adjusted based on this combined feedback package. Since only Jacobian of direct kinematics or Jacobian of inverse kinematics is used, the computational complexity is reduced significantly, and the control scheme is more stable at or near singular manipulator configurations. Furthermore, the complexities and oddities associated with hybrid control, such as nonuniformity of the space matrix and incompatibility of simultaneous position and force control in the same direction are circumvented. The applications of this theory are demonstrated in simulation experiments with both serial and parallel manipulators.

Copyright © 2007 by American Society of Mechanical Engineers
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Figure 1

Original hybrid control scheme by Raibert and Craig

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Figure 2

Target tracking method for a serial manipulator

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Figure 3

Target tracking method for parallel manipulator

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Figure 4

Simulation results

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Figure 5

A general PUMA manipulator

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Figure 6

Hybrid control results [Kpp=6e3; Kpi=3e2; Kpd=4e2; Kfp=1e2; Kfi=1]

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Figure 7

Target tracking results [Kfp=1e2; Kfi=1; c1=2e3; c2=1e1]

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Figure 8

Stewart platform of general geometry

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Figure 9

Position and force errors hybrid control

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Figure 10

Position and force trajectories with target tracking method



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