On the use of velocity feedback in hybrid force/velocity control of industrial manipulators

Jatta, F.; Legnani, Giovanni; Visioli, Antonio; Ziliani, G.

doi:10.1016/j.conengprac.2005.06.005

Cited by 25 publications

(10 citation statements)

References 16 publications

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“…Note that the use of a normal force derivative term has been avoided in (3) (indeed, only the proportional and the integral actions have been employed) as the derivation of such a signal is ill-conditioned [15,16]. Conversely, the adoption of a normal force velocity feedback loop has been proven to be effective to compensate for the possible large force oscillations due to the kinetostatic behavior of the manipulator [17] (note that the compliance of the robot is mainly concentrated in the third link).…”

Section: Control Lawmentioning

confidence: 99%

A mechatronic approach for robotic deburring

2007

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Section: Control Lawmentioning

confidence: 99%

A mechatronic approach for robotic deburring

2007

Self Cite

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“…Broad list of some of these applications include packing, assembly of micro-electronic products, machining, welding, and complex assembly [1][2][3]. Outcome form literature available led us to conclude that there is an urgent demand in the concerned area is of highly precise controllers [4].…”

Section: Introductionmentioning

confidence: 99%

Sliding Mode Control (SMC) of Robot Manipulator via Intelligent Controllers

Kapoor

Ohri

2016

J. Inst. Eng. India Ser. B

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Inspite of so much research, key technical problem, naming chattering of conventional, simple and robust SMC is still a challenge to the researchers and hence limits its practical application. However, newly developed soft computing based techniques can provide solution. In order to have advantages of conventional and heuristic soft computing based control techniques, in this paper various commonly used intelligent techniques, neural network, fuzzy logic and adaptive neuro fuzzy inference system (ANFIS) have been combined with sliding mode controller (SMC). For validation, proposed hybrid control schemes have been implemented for tracking a predefined trajectory by robotic manipulator, incorporating structured and unstructured uncertainties in the system. After reviewing numerous papers, all the commonly occurring uncertainties like continuous disturbance, uniform random white noise, static friction like coulomb friction and viscous friction, dynamic friction like Dhal friction and LuGre friction have been inserted in the system. Various performance indices like norm of tracking error, chattering in control input, norm of input torque, disturbance rejection, chattering rejection have been used. Comparative results show that with almost eliminated chattering the intelligent SMC controllers are found to be more efficient over simple SMC. It has also been observed from results that ANFIS based controller has the best tracking performance with the reduced burden on the system. No paper in the literature has found to have all these structured and unstructured uncertainties together for motion control of robotic manipulator.Keywords Non-linear system Á Sliding mode control (SMC) Á Heuristic intelligent controllers Á Neural network (NN) Á Fuzzy logic (FL) and adaptive neuro fuzzy inference system (ANFIS)

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“…The control of robot arms is often based on position, velocity, and torque measurements. Other approaches like polynomial family of PD-type controllers [2], adaptive iterative learning control [3] and nonlinear mixed H 2 /H ∞ control [4], hybrid force/velocity control of industrial robot arms [5] have also been proposed for control of robot arms. The impedance control [6,7] and compliance control [8,9] have been suggested to realize the flexible motion of robot arms, and applied it to industrial robots [10,11].…”

Section: Introductionmentioning

confidence: 99%

Adaptive behavior of an electromechanical arm robot in a case of physical interaction with a human being

Melnyk¹,

Hénaff²,

Razakarivony³

et al. 2011

2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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The aim of this paper is to consider the adaptation behavior of an electromechanical arm manipulator to the physical interaction of humans. Preliminary experiments to explore the possibility of adaptive interactions between an arm robot and a human without knowledge of the forces are investigated. A simple and efficient control adaptation of the system is implemented at the level of the electrical drive.

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On the use of velocity feedback in hybrid force/velocity control of industrial manipulators

Cited by 25 publications

References 16 publications

A mechatronic approach for robotic deburring

A mechatronic approach for robotic deburring

Sliding Mode Control (SMC) of Robot Manipulator via Intelligent Controllers

Adaptive behavior of an electromechanical arm robot in a case of physical interaction with a human being

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