A Novel Force Control Method for Quasi-Static Underactuated Multibody Systems

2009 ◽  
Vol 23 (10) ◽  
pp. 1249-1260 ◽  
Author(s):  
Yongan Huang ◽  
Zhouping Yin ◽  
Xiangtao Hu ◽  
Youlun Xiong
Keyword(s):  
Force Control ◽  
Multibody Systems ◽  
Control Method

Constant force control for aluminum wheel hub grinding based on ESO + backstepping

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Shijie Dai ◽  
Yufeng Zhao ◽  
Wenbin Ji ◽  
Jiaheng Mu ◽  
Fengbao Hu
Keyword(s):  
Control Strategy ◽  
Force Control ◽  
Control Method ◽  
Response Speed ◽  
Backstepping Control ◽  
Constant Force ◽  
Content Type ◽  
Disturbance Rejection Control ◽  
The Stability ◽  
Differential Control

Purpose This paper aims to present a control method to realize the constant force grinding of automobile wheel hub. Design/methodology/approach A constant force control strategy combined by extended state observer (ESO) and backstepping control is proposed. ESO is used to estimate the total disturbance to improve the anti-interference and stability of the system and Backstepping control is used to improve the response speed of the system. Findings The simulation and grinding experimental results show that, compared with the proportional integral differential control and active disturbance rejection control, the designed controller can improve the dynamic response performance and anti-interference ability of the system and can quickly track the expected force and improve the grinding quality of the hub surface. Originality/value The main contribution of this paper lies in the proposed of a new constant force control strategy, which significantly improved the stability and precision of grinding force.

A novel adaptive force control method for IPMC manipulation

2012 ◽  
Vol 21 (7) ◽  
pp. 075016 ◽  
Author(s):  
Lina Hao ◽  
Zhiyong Sun ◽  
Zhi Li ◽  
Yunquan Su ◽  
Jianchao Gao
Keyword(s):  
Force Control ◽  
Control Method ◽  
Adaptive Force Control

EXPERIMENTAL VERIFICATION OF BOUNDED-FORCE CONTROL METHOD

1996 ◽  
Vol 25 (2) ◽  
pp. 179-193 ◽  
Author(s):  
B. INDRAWAN ◽  
T. KOBORI ◽  
M. SAKAMOTO ◽  
N. KOSHIKA ◽  
S. OHRUI
Keyword(s):  
Experimental Verification ◽  
Force Control ◽  
Control Method

scholarly journals An Adaptive Sliding-Mode Iterative Constant-force Control Method for Robotic Belt Grinding Based on a One-Dimensional Force Sensor

Sensors ◽  
2019 ◽  
Vol 19 (7) ◽  
pp. 1635 ◽  
Author(s):  
Tie Zhang ◽  
Ye Yu ◽  
Yanbiao Zou
Keyword(s):  
Force Control ◽  
Control Method ◽  
Sliding Mode ◽  
Force Sensor ◽  
Grinding Force ◽  
One Dimension ◽  
Constant Force ◽  
Belt Grinding ◽  
Robotic Belt Grinding ◽  
The Relationship

To improve the processing quality and efficiency of robotic belt grinding, an adaptive sliding-mode iterative constant-force control method for a 6-DOF robotic belt grinding platform is proposed based on a one-dimension force sensor. In the investigation, first, the relationship between the normal and the tangential forces of the grinding contact force is revealed, and a simplified grinding force mapping relationship is presented for the application to one-dimension force sensors. Next, the relationship between the deformation and the grinding depth during the grinding is discussed, and a deformation-based dynamic model describing robotic belt grinding is established. Then, aiming at an application scene of robot belt grinding, an adaptive iterative learning method is put forward, which is combined with sliding mode control to overcome the uncertainty of the grinding force and improve the stability of the control system. Finally, some experiments were carried out and the results show that, after ten times iterations, the grinding force fluctuation becomes less than 2N, the mean value, standard deviation and variance of the grinding force error’s absolute value all significantly decrease, and that the surface quality of the machined parts significantly improves. All these demonstrate that the proposed force control method is effective and that the proposed algorithm is fast in convergence and strong in adaptability.

Hardware-in-the-Loop Simulation for Active Force Control with Iterative Learning Applied to an Active Vehicle Suspension System

2013 ◽  
Vol 465-466 ◽  
pp. 801-805
Author(s):  
Rosmazi Rosli ◽  
Musa Mailah ◽  
Gigih Priyandoko
Keyword(s):  
Force Control ◽  
Control Method ◽  
Learning Algorithm ◽  
Suspension System ◽  
Iterative Learning ◽  
Practical Implementation ◽  
Hardware In The Loop ◽  
Active Force ◽  
Physical Test ◽  
Active Force Control

The paper focuses on the practical implementation of a novel control method to an automotive suspension system using active force control (AFC) with iterative learning algorithm (ILA) and proportional-integral-derivative (PID) control strategy. The overall control system to be known as AFC-IL scheme essentially comprises three feedback control loops to cater for a number of specific tasks, namely, the innermost loop for the force tracking of the pneumatic actuator using PI controller, intermediate loops applying AFC with ILA strategy for the compensation of the disturbances and the outermost loop using PID controller for the computation of the desired force. A number of experiments were carried out on a physical test rig with hardware-in-the-loop simulation (HILS) feature that fully incorporates the theoretical elements. The performance of the proposed control method was evaluated and benchmarked to examine the effectiveness of the system in suppressing the vibration effect of the suspension system. It was found that the experimental results demonstrate the superiority of the active suspension system with proposed AFC-IL scheme compared to the PID and passive counterparts.

Simulations and Experiments on the Force Control of Hydraulic Servo System for Hydraulic Robots

2016 ◽  
Vol 826 ◽  
pp. 128-133 ◽  
Author(s):  
Hyo Gon Kim ◽  
Jong Won Lee ◽  
Yong Ho Choi ◽  
Jeong Woo Park ◽  
Jin Ho Suh
Keyword(s):  
Force Control ◽  
High Performance ◽  
Control Method ◽  
Servo System ◽  
Force Density ◽  
Hydraulic Actuator ◽  
Underwater Robots ◽  
Heavy Load ◽  
Hydraulic Servo ◽  
Hydraulic Servo System

Because hydraulic actuator has higher power and force density, it is normally used in heavy load manipulator robots and industrial equipment which require high torque. Also, the hydraulic actuator is applied to underwater robots that need high performance maneuver in underwater operations. The force control has benefits to those kind of robots to ensure compliance with user or environment. However, the hydraulic actuator is difficult to control forces due to the non-linearity characteristic of the hydraulic servo system. In this paper, we propose a force control method with compensation of force derivative and natural velocity feedback. We also describe a method of applying it to the real system. In order to evaluate the effect of the proposed control method, the simulations and experiments were performed.

Real-time hybrid testing with equivalent force control method incorporating Kalman filter

2015 ◽  
Vol 23 (4) ◽  
pp. 735-748 ◽  
Author(s):  
Pengfei Shi ◽  
Bin Wu ◽  
Billie F. Spencer ◽  
Brian M. Phillips ◽  
Chia-Ming Chang
Keyword(s):  
Kalman Filter ◽  
Real Time ◽  
Force Control ◽  
Control Method ◽  
Hybrid Testing

Force-Position Hybrid Control of a New Parallel Hexapod Robot for Drilling Holes on Fuselage Surface

2013 ◽  
Author(s):  
Xianchao Zhao ◽  
Yang Pan ◽  
Feng Gao
Keyword(s):  
Dynamic Model ◽  
Force Control ◽  
Parallel Mechanism ◽  
Control Method ◽  
Hybrid Control ◽  
Control Mode ◽  
Work Status ◽  
Legged Robot ◽  
Hexapod Robot ◽  
Robot Performance

In this paper, a new kind of 6-legged robot for drilling holes on the aircraft surface is presented. Each leg of the robot is a parallel mechanism with 3 degree of freedoms thus the robot includes totally 18 motors. Due to different work status, the control modes of these motors are also different and thus the force-position hybrid control method is applied. The kinematic and dynamic model is briefly introduced. Then the robot gait is discussed. After that hybrid control method is introduced: first the control mode of each motor should be determined, then the position or force control curves should be calculated. In the end of this paper, both virtual and real prototype of this robot is showed and the experiment result showed that the hybrid control method can significantly improve the robot performance.

Compliant Control for the Redundant Dual-Arm Live-Working Robot

2013 ◽  
Vol 459 ◽  
pp. 177-182
Author(s):  
Huan Bing Gao ◽  
Shou Yin Lu ◽  
Guo Hui Tian
Keyword(s):  
Dynamic Model ◽  
Force Control ◽  
Stiffness Matrix ◽  
Control Method ◽  
Total System ◽  
Kinematic Structure ◽  
Compliant Control ◽  
Dual Arm

Two arms are attached on the live-working robot for cooperating jobs and some task requiring larger stiffness such as pushing and butting when replacing cross arm or insulator. The different kinematic structure of this two arms brings many difficulties to get the dynamic model of the total system. This paper proposes a force control method to solve this problem. Two arms are considered as one arm firstly, then the general stiffness matrix is obtained. And based on the compliant relationship between the dual arms and the environment, the force control method for the exact force control is presented. The scheme is experimentally tested on the live-working robot, and the effectiveness and rapidity is validated .

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