Adaptive position/force control for robot manipulators in contact with a rigid surface with uncertain parameters

Pliego‐Jiménez, Javier; Arteaga, Marco A.

doi:10.1016/j.ejcon.2015.01.003

Cited by 48 publications

(16 citation statements)

References 17 publications

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“…This idea has been employed in the literature when force measurement is available. 16,20,21 The introduction ofQ x is proposed to ensure the norm invariance of J ϕx as shown in Eq. (25).…”

Section: Resultsmentioning

confidence: 99%

“…This way, a locally linear approximation is developed to solve the trajectory planning problem (see ref. [21] for details). Let η > 0 and let x a ∈ R n be the output of the unit-gain first-order filteṙ…”

Section: Assumption 33 the Unknown Contact Surface Is Smooth That mentioning

confidence: 99%

“…Several solutions have been proposed to deal with uncertainties on the surface geometry, including visual identification, [8][9][10][11] force-based reconstruction, 12 robustness against the kinematic and/or dynamic uncertainties, [13][14][15] and adaptive control. [16][17][18][19][20][21] In the case of compliant environments, the a priori exact description of the environment constraints is not always necessary, since the controllers can be designed to be robust against uncertainties in this description. In contrast, it has been shown that the geometric description of the constraints plays a critical role for the rigid surfaces case, since uncertainties in this description can easily lead to instability of the closed loop.…”

Section: Introductionmentioning

confidence: 99%

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Output Feedback Hybrid Force/Motion Control for Robotic Manipulators Interacting with Unknown Rigid Surfaces

Gutiérrez–Giles

Arteaga²

2019

Robotica

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SummaryThe problem of hybrid force and motion control over unknown rigid surfaces when only joint position measurements are available is considered. To overcome this problem, an extended state high-gain observer is designed to simultaneously estimate the contact force and joint velocities. These estimated signals are in turn employed to design a local estimator of the unknown surface gradient. This gradient is utilized to decompose the task space into two orthogonal subspaces: one for force tracking and the other one for motion control. A simple position Proportional Integral Derivative (PID) and force Proportional Integral (PI) controllers are proposed to track the desired signals. Finally, a mathematical analysis of the closed-loop dynamics is carried out, guaranteeing uniform ultimate boundedness of the position and force tracking errors and of the surface gradient estimation error. A numerical simulation is employed to validate the approach in an ideal scenario, while experiments are carried out to test the proposed strategy when uncertainties and unmodeled dynamics are present.

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“…This idea has been employed in the literature when force measurement is available. 16,20,21 The introduction ofQ x is proposed to ensure the norm invariance of J ϕx as shown in Eq. (25).…”

Section: Resultsmentioning

confidence: 99%

Section: Assumption 33 the Unknown Contact Surface Is Smooth That mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Output Feedback Hybrid Force/Motion Control for Robotic Manipulators Interacting with Unknown Rigid Surfaces

Gutiérrez–Giles

Arteaga²

2019

Robotica

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“…The complete proof of the Theorem 1 is given in [17], so that in this appendix we present only a sketch. Consider the scalar function…”

Section: Appendixmentioning

confidence: 99%

Adaptive position/force control for robot manipulators in contact with a rigid surface with unknown parameters

Pliego‐Jiménez

Arteaga

2015

2015 European Control Conference (ECC)

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Most position/force control schemes assume that the contact surface is exactly known. In the presence of constraint uncertainties these controllers cannot ensure convergence to zero of position and force errors. In this work, an adaptive scheme is proposed for robot manipulators that perform interaction tasks with a rigid surface. The proposed algorithm takes into account uncertainties in robot and surface parameters. Also, it locally estimates the surface by means of force measurements. Experimental results are presented to illustrate the good performance of our approach.

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“…Penelitian di bidang manipulator sudah cukup banyak dilakukan. Algoritma PD dan modifikasi PD merupakan salah satu jenis pengendali paling sering digunakan oleh peneliti, selain jaringan syaraf tiruan (JST) [3], fuzzy [4], adaptive force control [5], PID [6]. Permasalahan yang sering muncul dalam kendali PD adalah penalaan dan yang bersifat trial and error.…”

Section: Satunyaunclassified

Analisis Kendali Pd Plus Gravity Untuk Perangkat Pengatur Posisi Sumber Ion Decy-13

Saefurrochman

2018

jfn

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ANALISIS KENDALI PD PLUS GRAVITY UNTUK PERANGKAT PENGATUR POSISI SUMBER ION DECY-13. Arus proton DECY-13 yang optimal dapat tercapai dengan salah satu cara yaitu dengan mengatur posisi sumber ion yang akurat. Untuk itu dibutuhkan sebuah perangkat pengatur posisi yang mampu menggerakkan seluruh bagian sumber ion (termasuk tangkai dan kelongsong tangkai). Konstruksi dari perangkat pengatur posisi ini memiliki kesamaan dengan manipulator yang memiliki dua buah link. Pada penelitian ini disimulasikan kendali posisi menggunakan pengendali PD plus gravity untuk perangkat pengatur posisi sumber ion DECY-13 yang akan dibandingkan dengan pengendali PD. Simulasi dilakukan menggunakan program Simulink Matlab. Penelitian ini ditekankan pada penalaan nilai dan yang sederhana yaitu dengan cara memvariasi frekuensinya. Jangkauan frekuensi dibatasi antara 0,025 Hz hingga 10 KHz. Dengan membandingkan frekuensinya, dapat dilihat tanggapan kendali dari perangkat tersebut berupa overshoot, rise time serta settling time dan kinerjanya yang diwakili oleh nilai ISE, IAE dan ITAE. Dari hasil simulasi dapat disimpulkan bahwa, secara umum perangkat pengatur posisi sumber ion DECY-13 dengan pengendali PD plus gravity memiliki tanggapan dan kinerja yang relatif lebih baik dibandingkan dengan pengendali PD, khususnya parameter IAE dan ITAE. Frekuensi 500 Hz dipilih untuk menaladan . Frekuensi ini dipilih, karena dianggap optimal untuk mendapatkan tanggapan yang paling cepat dan kinerja yang paling baik.

show abstract

Adaptive position/force control for robot manipulators in contact with a rigid surface with uncertain parameters

Cited by 48 publications

References 17 publications

Output Feedback Hybrid Force/Motion Control for Robotic Manipulators Interacting with Unknown Rigid Surfaces

Output Feedback Hybrid Force/Motion Control for Robotic Manipulators Interacting with Unknown Rigid Surfaces

Adaptive position/force control for robot manipulators in contact with a rigid surface with unknown parameters

Analisis Kendali Pd Plus Gravity Untuk Perangkat Pengatur Posisi Sumber Ion Decy-13

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