Analysis and Experimental Verification of a Fourth Order Plant Model for Manipulator Force Control (1994)
| Venue: | IEEE Robotics & Automation Magazine |
| Citations: | 1 - 1 self |
BibTeX
@ARTICLE{Volpe94analysisand,
author = {Richard Volpe and Pradeep Khosla},
title = {Analysis and Experimental Verification of a Fourth Order Plant Model for Manipulator Force Control},
journal = {IEEE Robotics & Automation Magazine},
year = {1994},
volume = {1}
}
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Abstract
This paper presents the analysis and experimental verification of a fourth order model of the arm/ sensor / environment system plant, to be use in evaluation of force control strategies. Both the undamped and underdamped cases are investigated. Approximations and qualifications, based on the reality of our experimental system, help reduce the solution to just a few dominant terms. Comparing these terms with experimental data of the system undergoing small oscillations yields approximate values for all of the parameters in the model. To justify the obtained values, and thereby the approximations used, two measures are taken. First, a simulation of the fourth order model is performed, and compared against experimental data obtained from the CMU DD Arm II system. Second, a stability analysis of several force control schemes acting on the modelled plant is reviewed and compared against experimental tests of the controllers. In both cases, the simulation and analysis match closely with the ...
