Admittance Force Tracking Control Schemes for Robot Manipulators under Uncertain Environment and Dynamics

2021 ◽  
Vol 19 (11) ◽  
pp. 3753-3763
Author(s):  
Seul Jung ◽  
Do-Jin Jeong
Keyword(s):  
Tracking Control ◽  
Robot Manipulators ◽  
Uncertain Environment ◽  
Control Schemes ◽  
Force Tracking

Velocity and Force Observers for the Control of Robot Manipulators

2013 ◽  
Vol 135 (6) ◽  
Author(s):  
Marco A. Arteaga–Pérez ◽  
Juan C. Rivera–Dueñas ◽  
Alejandro Gutiérrez–Giles
Keyword(s):  
Dynamic Model ◽  
Tracking Control ◽  
Inverse Kinematics ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Asymptotical Stability ◽  
Joint Angles ◽  
Force Tracking

In this paper, position/force tracking control for rigid robot manipulators interacting with its environment is considered. It is assumed that only joint angles are available for feedback, so that velocity and force observers are designed. The principle of orthogonalization is employed for this particular purpose and some of its main properties are fully exploited to guarantee local asymptotical stability. Only the force observer requires the dynamic model of the robot manipulator for implementation, and the scheme is developed directly in workspace coordinates, so that no inverse kinematics is required. The proposed approach is tested experimentally and compared with a well–known algorithm.

Adaptive Robust Motion and Force Tracking Control of Robot Manipulators in Contact With Compliant Surfaces With Unknown Stiffness

1998 ◽  
Vol 120 (2) ◽  
pp. 232-240 ◽  
Author(s):  
Bin Yao ◽  
Masayoshi Tomizuka
Keyword(s):  
Contact Surface ◽  
Tracking Control ◽  
High Performance ◽  
Robot Manipulators ◽  
Surface Friction ◽  
Interaction Force ◽  
Friction Model ◽  
Tracking Accuracy ◽  
Compliant Surfaces ◽  
Force Tracking

High performance robust motion and force tracking control of robot manipulators in contact with compliant surfaces is considered in this paper. The robot parameters and the stiffness of the contact surface may not be known. The system may also be subjected to uncertain nonlinearities coming from the joint friction of the robot, external disturbances, the contact surface friction model, and the unknown time-varying equilibrium position of the contact surface. An adaptive robust motion and force tracking controller is proposed, which needs measurements of position, velocity, and interaction force only. The controller achieves a guaranteed transient performance and final tracking accuracy, a desirable feature for applications and for maintaining contact. In addition, the controller achieves asymptotic motion and force tracking without resorting to high-gain feedback when the system is subjected to parametric uncertainties.

Tracking control via switched Integral Sliding Mode with application to robot manipulators

2019 ◽  
Vol 90 ◽  
pp. 257-266 ◽  
Author(s):  
Antonella Ferrara ◽  
Gian Paolo Incremona ◽  
Bianca Sangiovanni
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Robot Manipulators ◽  
Integral Sliding Mode
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