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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

Intelligent compliant motion control.

O M Al-Jarrah¹, Y F Zheng

¹Dept. of Electr. Eng., Ohio State Univ., Columbus, OH.

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society

|February 8, 2008

Summary

This summary is machine-generated.

This study introduces a new compliant motion control method for robot manipulators. It efficiently manages interaction forces for tasks requiring constrained movements, enhancing robotic interaction capabilities.

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Area of Science:

Robotics
Control Systems Engineering

Background:

Robot manipulators require compliant motion control for tasks involving environmental contact.
Existing methods struggle with efficient interaction force management.

Purpose of the Study:

To develop a novel compliant motion control scheme for position-controlled robot manipulators.
To enable robots to perform tasks with constrained motions by accommodating interaction forces.

Main Methods:

A new method for efficient manipulator-environment interaction.
Interaction force reduction using a quadratic cost function.
Compliance formulated as a function of interaction force, updated adaptively.
System stability analysis using the Lyapunov approach.

Main Results:

Demonstrated efficient interaction between a robot manipulator and its environment.
Successfully reduced interaction forces through the proposed quadratic cost function.
Validated system stability and performance through laboratory experiments.

Conclusions:

The developed compliant motion control scheme effectively manages interaction forces for position-controlled manipulators.
The adaptive compliance formulation enhances robotic capabilities in constrained motion tasks.
Experimental results confirm the scheme's practical applicability and stability.