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Authors: Michael Short 1 and Kevin Burn 2

Affiliations: 1 Embedded Systems Laboratory,University of Leicester, United Kingdom ; 2 Control Systems Centre, University of Sunderland, United Kingdom

Keyword(s): Robotic force control, model following control, stability.

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mechatronic Systems ; Nonlinear Signals and Systems ; Real-Time Systems Control ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: To perform many complex tasks, modern robots often require robust and stable force control. Linear, fixed-gain controllers can only provide adequate performance when they are tuned to specific task requirements, but if the environmental stiffness at the robot/task interface is unknown or varies significantly, performance is degraded. This paper describes the design of a robotic force controller that has a simple architecture yet is robust to bounded uncertainty in the environmental stiffness. Generic stability conditions for the controller are developed and a simple design methodology is formulated. The controller design is tested on an experimental robot, and is shown to perform favourably in the presence of large changes in environmental operating conditions.

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Paper citation in several formats:
Short, M. and Burn, K. (2007). ROBUST AND STABLE ROBOTIC FORCE CONTROL. In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-972-8865-84-9; ISSN 2184-2809, SciTePress, pages 256-261. DOI: 10.5220/0001618302560261

@conference{icinco07,
author={Michael Short. and Kevin Burn.},
title={ROBUST AND STABLE ROBOTIC FORCE CONTROL},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2007},
pages={256-261},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001618302560261},
isbn={978-972-8865-84-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - ROBUST AND STABLE ROBOTIC FORCE CONTROL
SN - 978-972-8865-84-9
IS - 2184-2809
AU - Short, M.
AU - Burn, K.
PY - 2007
SP - 256
EP - 261
DO - 10.5220/0001618302560261
PB - SciTePress