1998 Volume 118 Issue 2 Pages 271-276
This paper is concerned with torque disturbance attenuation for manipulators based on SP-D (Saturated Proportional and Differential) position/force control method. The proposed SP-D position/force control method is derived from quasi-natural potential energy. It is applied to a system which consists of a manipulator and a compliant environment. Without the torque disturbance, the proposed control method can ensure asymptotic stability of the closed-loop system. Even though the torque disturbance exists, stability of the system can be guaranteed in the sense of L2. Furthermore, performance of attenuation against the torque disturbance is analyzed by using L2 gain. The proposed SP-D position/force control method is implemented on a two-link planer manipulator system. Effectiveness of the proposed control method is confirmed experimentally.