» Download Article

Authors
Nabil Zemiti; Guillaume Morel; Barthelemy Cagneau; Delphine Bellot; Alain Micaelli

Identifier
10.3182/20060906-3-IT-2910.00045

Index Terms
force control,passivity,kinematic instability,surgical robotics

Abstract
In this paper, we consider the problem of force control for kinematically constrained manipulators (KCMs). In particular, we show that the force component selection is not appropriate in general to solve the force control problem for KCMs. Moreover, by formulating the problem in the joint space, we show how to properly design a stable force controller for KCMs subject to arbitrary external forces applied to their end-effector. Experimental results with a kinematically constrained laparoscopic comanipulator illustrate these propositions.

References

[1] An, Chae H. and John M. Hollerbach (1987).
    Kinematic stability issues in force control
    of manipulators. In: Proc. of ICRA'87: the
    IEEE International Conference on Robotics
    and Automation. Vol. 4. pp. 897-903.
[2] Anderson, Brian D. O. and Sumeth Vongpanitlerd
    (1973). Network Analysis and Synthesis -A
    Modern Systems Theory Approach-. Englewood
     Cliffs, N. J., Prentice-Hall.
[3] Fisher, William D. and M. Shahid Mujtaba
    (1991). Hybrid position/force control: a correct
     formulation. Technical report. Hewlett
    Packard.
[4] Joly, L. D. (1997). Commande Hybride Position/Force
     pour la téléopération: une Approche
     Basée sur des Analogies Mécaniques.
    PhD thesis. Université de Paris 6.
[5] Khalil, Hassan K. (2002). Nonlinear Systems.
    third ed.. Pearson Education, Prentice-Hall.
[6] Williams, David and Oussama Khatib (1995). Improved
     force control for conventional arms
    using wrist-based torque feedback. Proc. of
    ISER'95: International Symposium on Experimental
     Robotics pp. 516-525.
[7] Yi, Byung-Ju, Ian D. Walker, Delbert Tesar and
    Robert A. Freeman (1991). Geometric stability
     in force control. In: Proc. of ICRA'91: the
    IEEE International Conference on Robotics
    and Automation. pp. 281-286.
[8] Zemiti, N., G. Morel, A. Micaelli, B. Cagneau
    and D. Bellot (2006). A passive formulation
     of force control for kinematically constrained
     manipulators. In: to appear in Proceedings
     of the IEEE International Conference
     on Robotics and Automation (ICRA).
    Orlando, Florida.
[9] Zemiti, N., T. Ortmaier and G. Morel (2004).
    A new robot for force control in minimally
    invasive surgery. In: Proc. of IROS'04: the
    IEEE/RSJ International Conference on Intelligent
     Robots and Systems. Sendai, Japan.
[10] Zemiti, Nabil (2005). Commande en Effort des
     Systèmes Robotiques pour la chirurgie mini-invasive.
      PhD thesis. Université de Paris 6.
[11] Zhang, H. (1989). Kinematic stability of robot manipulators
      under force control. In: Proc. of
     ICRA'89: the IEEE International Conference
     on Robotics and Automation (Vol. 1). Scottsdale,
      AZ. pp. 80-85.