Compliance and Force Control for Computer Controlled Manipulators.
Abstract
Compliant motion occurs when the manipulator position is constrained by the task geometry. Compliant motion may be produced either by a passive mechanical compliance built into the manipulator, or by an active compliance implemented in the control servo loop. The second method, called force control, is the subject of this report. In particular, this report presents a theory of force control based on formal models of the manipulator and the task geometry. The ideal effector is used to model the manipulator, and the task geometry is modeled by the ideal surface, which is the locus of all positions accessible to the ideal effector. Models are also defined for the goal trajectory, position control, and force control. These models are useful in two respects. First, the model of force control provides a precise semantics for force control primitives in manipulator programming languages. The model also defines a simple interface between the manipulator and the programmer, isolating the programmer from the fundamental complexity of low-level manipulator control. Second, the formalism provides a method of synthesizing force control programs for compliant motion. A force control program is modeled as a set of equations in the components of manipulator velocity (angular velocity) and force (torque). The task geometry constraints can be modeled similarly.
Document Details
- Document Type
- Technical Report
- Publication Date
- Apr 01, 1979
- Accession Number
- ADA077708
Entities
People
- Matthew Thomas Mason
Organizations
- Massachusetts Institute of Technology