Robust force control strategy based on the virtual environment concept

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 an...

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Bibliographic Details
Published in:Advanced robotics 2007-01, Vol.21 (3-4), p.485-498
Main Authors: Fraisse, P., Dauchez, P., Pierrot, F.
Format: Article
Language:English
Subjects:
EXPERIMENTATION
FORCE CONTROL
ROBUST CONTROL
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Summary: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.
ISSN:0169-1864
1568-5535
DOI:10.1163/156855307780132018