Hostname: page-component-7dd5485656-2pp2p Total loading time: 0 Render date: 2025-10-31T02:21:53.301Z Has data issue: false hasContentIssue false
  • English
  • Français

Robot multiple contact control

Published online by Cambridge University Press:  01 September 2008

Jaeheung Park  and
Oussama Khatib
Jaeheung Park*
Affiliation:
Stanford Artificial Intelligence Laboratory. Address: Gates Building Room 122, 353 Serra Mall #146, Stanford, CA 94305-9010.
Oussama Khatib
Affiliation:
Stanford Artificial Intelligence Laboratory. Gates Building Room 144, 353 Serra Mall #146, Stanford, CA 94305-9010.
*
*Corresponding author. E-mail: park73@robotics.stanford.edu
Get access Rights & Permissions [Opens in a new window]

Summary

This paper addresses the problem of contact force control for multiple contacts distributed over multiple links in a robot. This is of importance when performing complex tasks in unstructured environment, particularly in humanoid robot applications. The proposed multicontact control framework provides a new way of defining the operational space coordinates, which facilitates the specification of multiple contact control. The contact force space on multiple links is constructed as an operational space for the highest priority task. Motion control, given lower priority, can be executed using the rest of degree of freedom within the null-space of the force control. The dynamic control structure, then, provides a means to control each contact force and motion independently. This dynamic decoupling enables each contact force controller to utilize linear control theories. In particular, the contact force controllers adopt full state feedback control and estimation methods to produce robust performance with respect to modeling and parameter uncertainties. The effectiveness of the multiple contact control framework was demonstrated using a PUMA560 manipulator, with multiple contacts on the end-effector and third link. The demonstrated tasks involved controlling each of the contact forces with null-space motion.

Keywords

Multiple contactsMultiple linksForce controlMotion controlHumanoidManipulator

Information

Type
Article
Information
Robotica , Volume 26 , Issue 5 , September 2008 , pp. 667 - 677
Copyright
Copyright © Cambridge University Press 2008

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

1.Ambrose, H. and Qu, Z., “Model Reference Robust Control for Mimo Systems,” Proceedings of the American Control Conference, Albuquerque, New Mexico (1997) pp. 345–349.Google Scholar
2.Bicchi, A. and Kumar, V., “Robotic Grasping and Contact: A Review,” Proceedings of the International Conference on Robotics and Automation, San Francisco, U.S.A. (2000) pp. 348–353.Google Scholar
3.Bruynincks, H., Demey, S., Dutré, S. and De Schutter, J., “Kinematic models for model-based compliant motion in the presence of uncertainty,” Int. J. Robot. Res. 14 (5), 465–482 (Oct. 1995).CrossRefGoogle Scholar
4.Chang, K. and Khatib, O., “Manipulator Control at Kinematic Singularities: A Dynamically Consistent Strategy,” Proceedings of the International Conference on Intelligent Robots and Systems, Pittsburgh, U.S.A. (1995) pp. 84–88.Google Scholar
5.Chiaverini, S., Siciliano, B. and Villani, L., “A Survey of Robot Interaction Control Schemes with Experimental Comparison,” ASME Trans. Mechatronics 4 (3), 273–285 (Sep. 1999).CrossRefGoogle Scholar
6.Cortesão, R., Kalman Techniques for Intelligent Control Systems: Theory and Robotic Experiments. Ph.D. thesis (University of Coimbra, 2002).Google Scholar
7.Cortesão, R., Park, J. and Khatib, O., “Real-Time adaptive control for haptic telemanipulation with kalman active observers,” IEEE Trans. Robot. 22 (5), 987–999, 2006.CrossRefGoogle Scholar
8.Featherstone, R., Thiebaut, S. S. and Khatib, O., “A General Contact Model for Dynamically-Decoupled Force/Motion Control,” Proceedings of the International Conference on Robots and Automation, Detroit, U.S.A. (1999) pp. 3281–3286.Google Scholar
9.Freund, E., “The structure of decoupled nonlinear systems,” Int. J. Control 21 (3), 443–450 (1975).Google Scholar
10.Johnson, C. D., “Discrete-time disturbance-accommodating control theroy with applications to missile digital control,” J. Guid. Control 4 (2), 116–125 (1980).CrossRefGoogle Scholar
11.Khatib, O., “A unified approach for motion and force control of robot manipulators: The operational space formulation,” Int. J. Robot. Autom. 3 (1), 43–53 (Feb. 1987).Google Scholar
12.Khatib, O. and Burdick, J., “Motion and Force Control of Robot Manipulators,” In: Proceedings of the International Conference on Robotics and Automation, San Francisco, U.S.A. (1986) pp. 1381–1386.Google Scholar
13.Khatib, O., Sentis, L., Park, J. and Warren, J., “Whole-body dynamic behavior and control of human-like robots,” Int. J. Humanoid Robot. 1 (1), 29–43 (2004).Google Scholar
14.Lipkin, H. and Duffy, J., “Hybrid twist and wrench control for a robotic manipulator,” ASME J. Mech. Trans. Autom. Des. 110 (2), 138–144 (Jun. 1988).CrossRefGoogle Scholar
15.Liu, Y., Kitagaki, K., Ogasawara, T. and Arimoto, S., “Model-based adaptive hybrid control for manipulators under multiple geometric constraints,” IEEE Trans. Control Sys. Technol. 7 (1), 97–109 (Jan. 1999).Google Scholar
16.Mirza, K. and Orin, D. E., “Control of Force Distribution for Power Grasp in the Digits System,” Proceedings of the Conference on Decision and Control, Honolulu, Hawaii, U.S.A. (1990) pp. 1960–1965.Google Scholar
17.Nakamura, Y. and Hanafusa, H., “Inverse Kinematic Solutions with Singularity Robustness for Robot Manipulator Control,” ASME J. Dyn. Syst. Meas. Control 108 (3), 163–171 (1986).CrossRefGoogle Scholar
18.Park, J., Cortesão, R. and Khatib, O., “Multi-Contact Compliant Motion Control for Robotic Manipulators,” Proceedings of the International Conference on Robotics and Automation, New Orleans, U.S.A. (2004) pp. 4789–4794.Google Scholar
19.Park, J. and Khatib, O., Mult-link Multi-contact Force Control for Manipulators. In Proceedings of the International Conference on Robotics and Automation, Barcelona, Spain (2005) pp. 3613–3618.Google Scholar
20.Jaeheung, Park and Khatib, Oussama, “A haptic teleoperation approach based on contact force control,” Int. J. Robot. Res. 25 (5–6), 575–591 (2006).Google Scholar
21.Petrovskaya, A., Park, J. and Khatib, O., “Probabilistic Estimation of Whole Manipulator Contacts for Multi-contact Control,” Proceedings of the International Conference on Robotics and Automation, Rome, Italy (2007).Google Scholar
22.Raibert, M. H. and Craig, J. J., “Hybrid position/force control of manipulators,” ASME J. Dyn. Sys. Meas. Control 103 (2), 126–133 (June 1981).CrossRefGoogle Scholar
23.Russakow, J., Khatib, O. and Rock, S. M., “Extended Operational Space Formulation for Serial-to-parallel Chain(branching) Manipulators,” Proceedings of the International Conference on Robotics and Automation, Nagoya, Japan (1995) pp. 1056–1061.Google Scholar
24.Salisbury, K., Townsend, W., Eberman, B. and DiPietro, D., “Preliminary Design of a Whole-arm Manipulation System (wams),” In: Proceedings of the International Conference on Robotics and Automation, Philadelphia, PA, U.S.A. (1988) pp. 254–260.Google Scholar
25.De Schutter, J., Rutgeerts, J., Aertbeliën, E., De Groote, F., De Laet, T., Lefebvre, T., Verdonck, W. and Bruyninckx, H., “Unified Constraint-Based Task Specification for Complex Sensor-Based Robot Systems,” In: Proceedings of the International Conference on Robotics and Automation Barcelona, Spain (2005) pp. 3607–3612.Google Scholar
26.Siciliano, B. and Villani, L., Robot Force Control, “The Kluwer International Series In Engineering and Computer Science.” (Kluwer Academic Publishers, 1999).Google Scholar
27.Wampler, C. W., “Manipulator inverse kinematic solutions based on vector formulations and damped least-squares methods,” IEEE Trans. Sys. Man Cybern. 16 (1), 93–101 (1986).CrossRefGoogle Scholar
28.West, H. and Asada, H., A Method for the Design of Hybrid Position/Force Controllers for Manipulators Contrained by Contact with the Environment,” Proceedings of the International Conference on Robotics and Automation (1985) pp. 251–259.Google Scholar
29.Yoshikawa, T., “Force Control of Robot Manipulators,” Proceedings of the International Conference on Robotics and Automation San Francisco, USA (2000) pp. 220–226.Google Scholar
30.Zhang, Y. and Gruver, W. A., “Definition and Force Distribution of Power Grasps,” In: Proceedings of the International Conference on Robotics and Automation Nagoya, Japan (1995) pp. 1373–1378.Google Scholar