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Erschienen in:
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2016 | OriginalPaper | Buchkapitel

On the Role of Compliance in Force Control

verfasst von : Andrea Calanca, Paolo Fiorini

Erschienen in: Intelligent Autonomous Systems 13

Verlag: Springer International Publishing

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Abstract

This paper proposes an overview and an interpretation on the role of compliance in force control within a framework where adaptive control arise as an intuitive approach. In our analysis, we show that force control stability can be assured only if exists a compliant interface between the robot and the environment. Also, we prove that compliance is helpful to ensure well-defined force control dynamics, if combined with a low robot inertia. Otherwise adaptive control algorithms are proposed as a tool to deal with environment uncertainties. Finally, an experimental comparison between the adaptive approach and state of the art solutions is proposed.

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Vorheriges Kapitel Design and Control of a Vertical Ball Juggling Delta Robot Without Visual Guidance
Nächstes Kapitel iSplash-OPTIMIZE: Optimized Linear Carangiform Swimming Motion
Fußnoten
1
The metal support L in Fig. 5 have been replaced by a wood frame to achieve a worst case condition \(r\gg 0\).
 
2
We collected a total of 240 periods for each controller, 120 in the high impedance condition and 120 in the low. As the reference is a 4 Hz sinusoid the each period is 0.25 s.
 
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Metadaten
Titel
On the Role of Compliance in Force Control
verfasst von
Andrea Calanca
Paolo Fiorini
Copyright-Jahr
2016
Buch
Intelligent Autonomous Systems 13

Print ISBN: 978-3-319-08337-7

Electronic ISBN: 978-3-319-08338-4

Copyright-Jahr: 2016

DOI
https://doi.org/10.1007/978-3-319-08338-4_90

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