Reajuste de los parámetros de la impedancia mecánica para la mejora de la disipación de la energía durante el impacto
Enviado: 14-09-2017
|Aceptado:
|Publicado: 08-10-2009
Descargas
Palabras clave:
Impacto, impedancia, brazos robot, control de robots, energía
Agencias de apoyo:
Resumen:
Citas:
B. Armstrong, J. McPherson y Y. Li, “Stability of Nonlinear PD control.” Applied Mathematics and Computer Science, 7 (2), 101–120 (1997);
B. Armstrong, D. Neevel y T. Kusik “New results in NPID control: Tracking, integral control, friction compensation and experimental results” IEEE Trans. on Control Systems Technology, 9 (2), 399–406 (2001);
B. Armstrong, J. Gutierrez, B. Wade y R. Joseph “Stability of Phase-Based Gain Modulation with Designer-Chosen Switch Functions”, The International Journal of Robotics Research 25 (8), 781-796 (2006).
R. Brach, Mechanical Impact Dynamics- Rigid Body Collisions (John Wiley & Sons Publishers, New York, 1991);
B. Brogliato, Nonsmooth mechanics. (Springer Verlag, London, 1999);
B. Brogliato, S.I. Nicolescu y P. Orhant "On the Control of Finite Dimensional Mechanical Systems with Unilateral Constraints"- IEEE Transactions on Automatic Control 42 (2), 200-215 (1997);
J. De Schutter y M. Spong “ Force Control: A bird’s eye view” – IEEE CSS/ RAS Workshop on Control Problems in Robotics and Automation: Future Directions” San Diego, CA, ( 1997).
G. Ferretti, G. Magnani y A. Zavala Río, “ Impact modelling and Control for Industrial Manipulators”- IEEE Control Systems Magazine, 18 (4), 65-71 (1998);
D. Franke, ”Entwurf robuster Regelungssysteme mittels zustandsabhängiger Strukturännderung”, Regelungstechnik 29 (1), 263-268 (1981);.
N. Hogan "Impedance Control: An approach to manipulation"- Journal of Dynamics Systems, Measurement and Control, Vol. 107, pp 1-24, (1985).
J. Hyde y M. Cutkosky, "Controlling Contact Transitions" IEEE Control Systems Magazine, 14 (1), 25-30 (1994).
L. Sciavicco y B. Siciliano, Modeling and Control of Robot Manipulators (McGraw-Hill Company Inc., New York, 1996);
H. Seraji y R. Colbaugh “Force Tracking in impedance Control.” The International Journal of Robotics Research, 16 (1), 97 – 117, (1997).
H. Seraji, “Nonlinear and Adaptive Control of Force and Compliance in Manipulators” The International Journal of Robotic Research, 17 (5), pp. 467-484 (1998);
R. Volpe y P. Khosla, “A Theoretical and Experimental Investigation of Impact Control for Manipulators"- International Journal of Robotics Research, 12 (4), 351-365 (1993).
Y. Xu, J.M. Hollerbach y D. Ma, “A nonlinear PD controller for force and contact transient control.”, IEEE Control Systems Magazine, 15 (1), pp. 15–21 (1995);
R. Zotovic., A. Valera y P. García: “Impact and force control with switching between mechanical impedance parameters”, Proceedings of the 16th IFAC world Congress, Praga, (2005).
R. Zotovic y A. Valera, “Robot Force and Impact Control with Feedforward Switching”, Proceedings of the 17th IFAC world Congress, Seoul, Korea (2008).
R. Zotovic y A. Valera, “Simultaneous velocity, impact and force control”, Robotica, Aceptado para publicación (doi:10.1017/S0263574709005451), (2009).
