Performance improvement of implicit integral robot force control through constraint-based optimization
- 1 December 2016
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE) in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- p. 3368-3373
- https://doi.org/10.1109/iros.2016.7759518
Abstract
Classical control approaches to robot force control have been extensively addressed by research in the last decades and are now considered a paradigm when dealing with force control for industrial robots. With this respect, the present paper exploits the capability of state-of-the-art Quadratic Programming (QP) solvers to specify a simple and intuitive constraint-based optimization strategy aiming at improving closed-loop performance of a classical force controller, such as the implicit force control with pure integral action for a position-controlled manipulator in contact with a compliant environment. The effectiveness of the proposed control strategy is experimentally validated on an industrial robot equipped with a force sensor.Keywords
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