scholarly journals Novel Voltage-Based Weighted Hybrid Force/Position Control for Redundant Robot Manipulators

Electronics ◽  
2022 ◽  
Vol 11 (2) ◽  
pp. 179
Author(s):  
Jun Dai ◽  
Yi Zhang ◽  
Hua Deng
Keyword(s):  
Dynamic Model ◽  
Control Algorithm ◽  
Position Control ◽  
Impedance Control ◽  
Robot Manipulators ◽  
Lyapunov Stability Theory ◽  
Control Laws ◽  
Redundant Robot ◽  
Transport Experiment ◽  
The Stability

Existing hybrid force/position control algorithms mostly explicitly contain a dynamic model. Moreover, force and position controllers will be switched frequently. To solve the above problems, a novel voltage-based weighted hybrid force/position control algorithm is proposed for redundant robot manipulators. Firstly, mapping between voltage and terminal position and orientation is established so that the designed controller can be simplified by adopting the motor current as the feedback to replace the tedious calculation of the dynamic model. Secondly, a voltage-based weighted hybrid force/position control algorithm is proposed to eliminate the selection matrix. Force and position control laws are summed directly through a weighted way to avoid the problems of space decomposition and switching. Thirdly, the stability is proven using Lyapunov stability theory, then the selection method for weighted coefficient is provided. Fourthly, comparative simulations are performed. Results show that the proposed algorithm is suitable for impedance control and hybrid force/position control and can compensate for their deficiencies. Lastly, the transport experiment in the YZ plane is conducted. Results show that position and force accuracies in the Y- and Z-axis directions are 3.489 × 10−4 and 7.313 × 10−4 m and 1.238 × 10−1 and 1.997 × 10−1 N, respectively. Accordingly, it can effectively improve the operation capability and control accuracy.

Modeling and Experimental Testing of Hoverboard Dynamic Behavior

2017 ◽  
Author(s):  
Arnoldo Castro ◽  
William Singhose ◽  
Xiaoshu Liu ◽  
Khalid Sorensen ◽  
Eun Chan Kwak
Keyword(s):  
Dynamic Model ◽  
Dynamic Behavior ◽  
Motion Capture ◽  
Environmental Conditions ◽  
Experimental Testing ◽  
Motion Capture Data ◽  
Control Laws ◽  
Operator Action ◽  
The Stability ◽  
Unexpected Behavior

Self-balancing human transporters are naturally unstable. However, when coupled with sophisticated control laws, these machines can provide mobility within a finite stability envelope. Challenging environmental conditions, or unanticipated operator action, can cause these machines to exhibit unexpected behavior. In an effort to better understand the behavior of these systems inside and outside the stability envelope, a dynamic model of a hoverboard is presented. Motion-capture data is also presented in which an operator’s interactions with the hoverboard were recorded.

scholarly journals Geometric control of quadrotor UAVs using integral backstepping

2021 ◽  
Vol 22 (1) ◽  
pp. 53
Author(s):  
Ali Bouchaib ◽  
Rachid Taleb ◽  
Ahmed Massoum ◽  
Saad Mekhilef
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Level Control ◽  
Control Laws ◽  
System Nonlinearity ◽  
System Robustness ◽  
The Stability ◽  
High Level ◽  
High Degree ◽  
Quaternion Representation

The traditional quadcopter control systems should deal with two common problems. Namely, the singularities related to the inverse kinematics and the ambiguity linked to the quaternion representation of the dynamic model. Moreover, the stability problem due to the system nonlinearity and high degree of coupling. This paper provides a solution to the two issues by employing a geometrical integral-backstepping control system. The integral terms were added to improve system ability to track desired trajectories. The high-level control laws are considered as a virtual control and transmitted to the low-level to track the high-level commands. The proposed control system along with the quadcopter dynamic model were expressed in the special Euclidean group SE(3). Finally, the control system robustness against mismatching parameters was studied while tracking various paths.

Theory and Experiments on the Compliance Control of Redundant Robot Manipulators

1990 ◽  
Vol 112 (4) ◽  
pp. 653-660 ◽  
Author(s):  
H. Kazerooni ◽  
K. G. Bouklas ◽  
J. Guo
Keyword(s):  
Degrees Of Freedom ◽  
Control Method ◽  
Robot Manipulators ◽  
Industrial Robot ◽  
Redundant Robot ◽  
Control Approach ◽  
Six Degrees Of Freedom ◽  
The Stability ◽  
Control Methodology ◽  
Theory And Experiments

This work presents a control methodology for compliant motion in redundant robot manipulators. This control approach takes advantage of the redundancy in the robot’s degrees of freedom: while a maximum six degrees of freedom of the robot control the robot’s endpoint position, the remaining degrees of freedom impose an appropriate force on the environment. To verify the applicability of this control method, an active end-effector is mounted on an industrial robot to generate redundancy in the degrees of freedom. A set of experiments are described to demonstrate the use of this control method in constrained maneuvers. The stability of the robot and the environment is analyzed.

An Extended Jacobian-Based Formulation for Operational Space Control of Kinematically Redundant Robot Manipulators With Multiple Subtask Objectives: An Adaptive Control Approach

2019 ◽  
Vol 141 (5) ◽  
Author(s):  
Kamil Cetin ◽  
Enver Tatlicioglu ◽  
Erkan Zergeroglu
Keyword(s):  
Stability Analysis ◽  
Tracking Control ◽  
Robot Manipulators ◽  
Robot Dynamics ◽  
Simulation Studies ◽  
Matrix Formulation ◽  
Redundant Robot ◽  
Control Approach ◽  
Operational Space ◽  
The Stability

In this study, an extended Jacobian matrix formulation is proposed for the operational space tracking control of kinematically redundant robot manipulators with multiple subtask objectives. Furthermore, to compensate the structured uncertainties related to the robot dynamics, an adaptive operational space controller is designed, and then, the corresponding stability analysis is presented for kinematically redundant robot manipulators. Specifically, the proposed method is concerned with not only the stability of operational space objective but also the stability of multiple subtask objectives. The combined stability analysis of the operational space objective and the subtask objectives are obtained via Lyapunov based arguments. Experimental and simulation studies are presented to illustrate the performance of the proposed method.

Hybrid force/position control for robot manipulators based on a D-type learning law

Robotica ◽  
1996 ◽  
Vol 14 (1) ◽  
pp. 51-59 ◽  
Author(s):  
Shunmugham R. Pandian ◽  
Sadao Kawamura
Keyword(s):  
Control Algorithm ◽  
Position Control ◽  
Robot Manipulators ◽  
Position Tracking ◽  
Simulation Studies ◽  
Surface Geometry ◽  
Tracking Errors ◽  
Repetitive Tasks ◽  
Experimental Implementation ◽  
Space Case

SummaryA learning control algorithm is proposed for hybrid force/position tracking of a manipulator in contact with a hard surface. The algorithm utilizes acceleration errors and force errors for learning the inputs required to perform repetitive tasks. We prove the convergence of both force and position tracking errors theoretically. The speed of convergence of the tracking errors is shown to be improved by proper choice of learning gains. The method is compared with PI and PID learning, and similarities with the free-space case are outlined. The robustness of the new scheme to uncertainties in surface geometry and link parameters is discussed. Results of simulation studies and experimental implementation on 3-link robot manipulators are presented to illustrate the effectiveness of the proposed learning controller.

Model-Based Control of Three Degrees of Freedom Robotic Bulldozing

2013 ◽  
Vol 136 (2) ◽  
Author(s):  
Scott G. Olsen ◽  
Gary M. Bone
Keyword(s):  
Material Removal Rate ◽  
Material Removal ◽  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Position Control ◽  
Removal Rate ◽  
Optimal Controller ◽  
Control Laws ◽  
Rule Based ◽  
Three Degrees Of Freedom

This brief paper investigates the control of a robotic bulldozing operation. Optimal blade position control laws were designed based on a hybrid dynamic model to maximize the predicted material removal rate of the bulldozing process. Experiments were conducted with a scaled-down robotic bulldozing system. The control laws were implemented with various tuning values. As a comparison, a rule-based blade control algorithm was also designed and implemented. The experimental results with the best optimal controller demonstrated a 33% increase in the average material removal rate compared to the rule-based controller.

Gait planning and control of quadruped crawling robot on a slope

2019 ◽  
Vol 47 (1) ◽  
pp. 12-22
Author(s):  
Peng Wang ◽  
Chunxiao Song ◽  
Xiaoqiang Li ◽  
Peng Luo
Keyword(s):  
Position Control ◽  
Impedance Control ◽  
Switching Control ◽  
Gait Planning ◽  
Content Type ◽  
Planning And Control ◽  
Smooth Switching ◽  
The Stability ◽  
And Control ◽  
Soft Control

Purpose The gait planning and control of quadruped crawling robot affect the stability of the robot walking on a slope. The control includes the position control in the swing phase, the force control in the support phase and the switching control in the force/position switching. To improve the passing ability of quadruped crawling robot on a slope, this paper aims to propose a soft control strategy. Design/methodology/approach The strategy adopts the statically stable crawling gait as the main gait. As the robot moves forward, the position/force section switching control is adopted. When the foot does not touch the ground, the joint position control based on the variable speed PID is performed. When the foot touches the ground, the position-based impedance control is performed, and a fuzzy multi-model switching control based on friction compensation is proposed to achieve smooth switching of force and position. Findings The proposed method offers a solution for stable passage in slope environment. The quadruped crawling robot can realize smooth switching of force/position, precise positioning in the swing process and soft control of force in the supporting phase. This fact is verified by simulation and test. Originality/value The method presented in this paper takes advantage of minimal tracking errors and minimal jitters. Simulations and tests were performed to evaluate the performance.

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