Robust jump impact controller for manipulators

This paper presents a novel impact controller which is robust to the uncertainties in environment dynamics and location of the collision surface. By modeling the impact dynamics as a state dependent jump linear system and applying a modified version of the stochastic maximum principle of a state dependent jump linear system, the controller thus obtained optimizes, in the mean square sense, the approach velocity, the force transient during impact and the steady state force error after contact is established. Compared with impedance controllers via simulation whose data is obtained from experimental data the results indicate that not only is the performance of the jump impact controller superior in terms of overshoot and steady state error its robustness is quite remarkable too.

Authors

• David Chiu 0002
• Sukhan Lee 0001

Keywords

• Robust control
• Linear systems
• Steady-state
• Error correction
• Manipulator dynamics
• Uncertainty
• Stochastic systems
• Control system synthesis
• Force control
• Velocity control
• Steady State
• Dynamic Environment
• Position Uncertainty
• Dynamic Uncertainties
• Approach Velocity
• Steady Error
• Steady Force
• Linear Model
• System Dynamics
• Dynamic Model
• Optimal Control
• Conditional Independence
• Reaction Force
• Impact Force
• Interaction Forces
• Force Sensor
• Steady-state Error
• Transition Regime
• Virtual Force
• Impedance Control
• Stochastic Control
• Force Commander
• Lot Of Uncertainty