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Title: Multi-rate operational space control of compliant motion in robotic manipulators
Authors: Ngoc Dung, V.
Ang Jr., M.H. 
Tao Ming, L.
Ser Yong, L.
Keywords: Force control
Hierarchical control
Model-based control
Operational space control
Issue Date: 2009
Citation: Ngoc Dung, V.,Ang Jr., M.H.,Tao Ming, L.,Ser Yong, L. (2009). Multi-rate operational space control of compliant motion in robotic manipulators. Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics : 3175-3180. ScholarBank@NUS Repository.
Abstract: In this paper, we introduce a new multi-rate hybrid motion and force control using operational space framework. Conventional implementation of operational space control (OSC) does not perform well in the presence of model uncertainties. In order to overcome this issue, a two layered hierarchical controller structure is proposed in this paper. In the outer control loop, the control torque from the OSC is applied to the joint space dynamic model of the robot. By integrating the output of this system, reference joint velocities for the next control loop can be obtained. At the inner control loop, the conventional computed-torque control scheme is used to ensure the robot can track the above desired joint velocities. To illustrate the effectiveness of the proposed controller, intensive experiments have been conducted on the Mitsubishi PA10 7-DOF manipulator. Experimental results indicate that there is a significant improvement in comparison to the conventional implementation and the proposed approach is shown to have performed favorably in comparison to the commercial force controller from PushCorp. ©2009 IEEE.
Source Title: Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
ISBN: 9781424427949
ISSN: 1062922X
DOI: 10.1109/ICSMC.2009.5346163
Appears in Collections:Staff Publications

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