TARGET TRACKING ROBOTIC MANIPULATION THEORIES APPLIED TO FORCE/POSITION CONTROL IN PEG-IN-HOLE ASSEMBLY TASKS

D.J. Giblin, Y. Liu, and K. Kazerounian

References

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  17. [17] H. Kazerooni, Robust, non-linear impedance control for robotmanipulators, Proc. of the IEEE International Conf. onRobotics and Automation, Raleigh, NC, 1987.Appendix ASimulated PUMA PropertiesLink 1 2 3 4 5 6Body vector 0 17 0 0 0 0(bx,by,bz) 10 0 0 0 0 00 0 −17 0 0 −5Joint to CG 0 8 0 0 0 0(dx,dy,dz) 5 2 0 0 −1 00 0 −9 −1 0 −3Joint axis 0 0 0 0 0 0(ux,uy,uz) 0 1 1 0 −1 01 0 0 1 0 −1Weight 10 16 12 1 1 6Moment of inertia 0.230 0.069 1.405 0.001 0.001 0.069(Ixx,Iyy,Izz) 0.005 1.453 1.585 0.001 0.0001 0.0690.230 1.394 0.034 0.0001 0.001 0.01Units of length are given in inches; weight in lbs; and moment of inertiain lbmin2.Appendix BSimulation DetailsRp Keq Kx, Ky, Kz Hybrid control Target trackingKpp Kpi Kpd Kfp Kfi Kfd C1 C2 Kfp Kfi KfdBaseline case 0.85 1e−3 12, 12, 3 8e4 6e5 80 80 1e3 0.05 2e3 10 80 1e3 0.5Stiffer mounting 0.85 1e−3 36, 36, 9 8e4 6e5 50 80 1e3 0.05 2e3 10 80 1e3 0.5Stiffer material 0.85 4e−3 12, 12, 3 8e4 6e5 80 80 1e3 0.05 2e3 10 80 1e3 0.5Larger peg radius 0.95 1e−3 12, 12, 3 6e4 6e5 50 80 1e3 0.05 2e3 10 80 1e3 0.5Rp is the radius of the peg; Keq is the equivalent mesh stiffness from PISE [25]; Kx, Ky and Kz are the springstiffnesses of the plate mounting in each corresponding direction; Kp(p)(i)(d) are hybrid position controller gains;Kf(p)(i)(d) are force controller gains; C1 and C2 are the attractive force function parameters.
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  24. [25]; Kx, Ky and Kz are the springstiffnesses of the plate mounting in each corresponding direction; Kp(p)(i)(d) are hybrid position controller gains;Kf(p)(i)(d) are force controller gains; C1 and C2 are the attractive force function parameters.[18] J.T. Wen & S. Murphy, Stability analysis of position and forcecontrol for robot arms, IEEE Transactions on Automation andControl, 36, 1991, 365–371.[19] B. Waibel & E. Kazerooni, Theory and experiment on thestability of robot compliance control, IEEE Transactions onRobotics and Automation, 7, Raleigh, NC, 1991, 95–104.[20] I.D. Walker, The use of kinematic redundancy in reducingimpact and contact effects in manipulation. Proc. of the IEEEInternational Conf. on Robotics and Automation, Cincinnati,OH, 1990.[21] D. Giblin, M. Zongliang, Z. Gan, & K. Kazerounian, Targettracking manipulation theories for combined force and positioncontrol in open and closed loop manipulators, ASME Journalof Mechanical Design, 129 (3), 2007.[22] K. Kazerounian & K.C. Gupta, A target tracking manipula-tion theory for robots. International Journal of Robotics andAutomation, 1 (3), 1986.[23] J.R. Westlake, A hand book of numerical matrix inversion andsolution of linear equations (New York: Wiley Inc, 1968).[24] W.H. Press, S.A. Teukolsky, W.T. Vetterling, & B.P. Flannery,Numerical recipes in C (Cambridge, UK: Cambridge UniversityPress, 1992).[25] M. Pimsarn & K. Kazerounian, Pseudo-interference stiffnessestimation, a highly efficient numerical method for force eval-uation in contact problems, Engineering with Computers, 19,2003, 85–91.54

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