Correction of Force Errors for Flexible Manipulators in Quasi-Static Conditions
This paper deals with the problem of controlling the interactions of flexible manipulators with their environment. For executing a force control task, a manipulator with intrinsic (mechanical) compliance has some advantages over the rigid manipulators commonly employed in position control tasks. In...
| Main Authors: | , |
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| Format: | Working Paper |
| Language: | en_US |
| Published: |
MIT Artificial Intelligence Laboratory
2008
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| Online Access: | http://hdl.handle.net/1721.1/41504 |
| _version_ | 1811081762448605184 |
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| author | Bicchi, Antonio Melchiorri, Claudio |
| author_facet | Bicchi, Antonio Melchiorri, Claudio |
| author_sort | Bicchi, Antonio |
| collection | MIT |
| description | This paper deals with the problem of controlling the interactions of flexible manipulators with their environment. For executing a force control task, a manipulator with intrinsic (mechanical) compliance has some advantages over the rigid manipulators commonly employed in position control tasks. In particular, stability margins of the force control loop are increased, and robustness to uncertainties in the model of the environment is improved for compliant arms. On the other hand, the deformations of the arm under the applied load give rise to errors, that ultimately reflect in force control errors. This paper addresses the problem of evaluating these errors, and of compensating for them with suitable joint angle corrections. A solution to this problem is proposed in the simplifying assumptions that an accurate model of the arm flexibility is known, and that quasi-static corrections are of interest. |
| first_indexed | 2024-09-23T11:52:04Z |
| format | Working Paper |
| id | mit-1721.1/41504 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T11:52:04Z |
| publishDate | 2008 |
| publisher | MIT Artificial Intelligence Laboratory |
| record_format | dspace |
| spelling | mit-1721.1/415042019-04-12T09:32:55Z Correction of Force Errors for Flexible Manipulators in Quasi-Static Conditions Bicchi, Antonio Melchiorri, Claudio This paper deals with the problem of controlling the interactions of flexible manipulators with their environment. For executing a force control task, a manipulator with intrinsic (mechanical) compliance has some advantages over the rigid manipulators commonly employed in position control tasks. In particular, stability margins of the force control loop are increased, and robustness to uncertainties in the model of the environment is improved for compliant arms. On the other hand, the deformations of the arm under the applied load give rise to errors, that ultimately reflect in force control errors. This paper addresses the problem of evaluating these errors, and of compensating for them with suitable joint angle corrections. A solution to this problem is proposed in the simplifying assumptions that an accurate model of the arm flexibility is known, and that quasi-static corrections are of interest. MIT Artificial Intelligence Laboratory 2008-04-29T16:28:07Z 2008-04-29T16:28:07Z 1990-12 Working Paper http://hdl.handle.net/1721.1/41504 en_US MIT Artificial Intelligence Laboratory Working Papers, WP-332 application/pdf MIT Artificial Intelligence Laboratory |
| spellingShingle | Bicchi, Antonio Melchiorri, Claudio Correction of Force Errors for Flexible Manipulators in Quasi-Static Conditions |
| title | Correction of Force Errors for Flexible Manipulators in Quasi-Static Conditions |
| title_full | Correction of Force Errors for Flexible Manipulators in Quasi-Static Conditions |
| title_fullStr | Correction of Force Errors for Flexible Manipulators in Quasi-Static Conditions |
| title_full_unstemmed | Correction of Force Errors for Flexible Manipulators in Quasi-Static Conditions |
| title_short | Correction of Force Errors for Flexible Manipulators in Quasi-Static Conditions |
| title_sort | correction of force errors for flexible manipulators in quasi static conditions |
| url | http://hdl.handle.net/1721.1/41504 |
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