Robust force control strategy based on the virtual environment concept

Authors: Fraisse, P.¹; Dauchez, P.²; Pierrot, F.¹

Source: Advanced Robotics, Volume 21, Numbers 3-4, 2007 , pp. 485-498(14)

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Abstract:

The main goal of this paper is to present a force control strategy based on the virtual environment concept. This concept is a way to increase the robustness of force control schemes with respect to a variation of the environment characteristics. We first propose this approach, then we analyze it and, finally, we adapt it to a classical external force control scheme. Experimental results with a DELTA fast parallel robot are presented to prove the efficiency of this method.

Keywords: FORCE CONTROL; ROBUST CONTROL; EXPERIMENTATION

Document Type: Research article

DOI: http://dx.doi.org/10.1163/156855307780132018

Affiliations: 1: LIRMM, Université Montpellier II, 34392 Montpellier Cedex 5, France 2: LESIA, Institut National des Sciences Appliquées, 31077 Toulouse Cedex 4, France

Publication date: 2007-03-01