Position/Force Control of Manipulator in Contact with Flexible Environment

Gierlak, Piotr

doi:10.2478/ama-2019-0003

Cited by 7 publications

(15 citation statements)

References 28 publications

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“…Its zero value results in the implementation of a desired force regardless of surface disturbances, i.e., classic force control is implemented. The control algorithm is then identical to that shown in [19,33]. In turn, an increase in the value of coefficient causes an increase in the importance of maintaining the nominal trajectory of motion in the normal direction despite surface disturbances, which takes place at the expense of the accuracy of force realization.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…Expression (10) introduces a new approach to the problem of control in the normal direction to the surface of constraints. Compared to the approach presented in papers [19,33], in which the generalized error for normal directions depends on the force error and its derivative, here it also depends on deviation from the desired nominal motion path in the normal direction and from the derivative ̇.…”

Section: Adaptive Position/force Tracking Controlmentioning

confidence: 99%

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Adaptive Position/Force Control of a Robotic Manipulator in Contact with a Flexible and Uncertain Environment

Gierlak

2021

Robotics

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The present paper concerns the synthesis of robot movement control systems in the cases of disturbances of natural position constraints, which are the result of surface susceptibility and inaccuracies in its description. The study contains the synthesis of control laws, in which the knowledge of parameters of the susceptible environment is not required, and which guarantee stability of the system in the case of an inaccurately described contact surface. The novelty of the presented solution is based on introducing an additional module to the control law in directions normal to the interaction surface, which allows for a fluent change of control strategy in the case of occurrence of distortions in the surface. An additional module in the control law is perceived as a virtual viscotic resistance force and resilient environment acting upon the robot. This interpretation facilitates intuitive selection of amplifications and allows for foreseeing the behavior of the system when disturbances occur. Introducing reactions of virtual constraints provides automatic adjustment of the robot interaction force with the susceptible environment, minimizing the impact of geometric inaccuracy of the environment.

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Section: Simulation Resultsmentioning

confidence: 99%

Section: Adaptive Position/force Tracking Controlmentioning

confidence: 99%

Adaptive Position/Force Control of a Robotic Manipulator in Contact with a Flexible and Uncertain Environment

Gierlak

2021

Robotics

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“…Future work will focus on an extension to obtain a cascade whereby the control of the active part provides a compromise between the adjusted movement trajectory and the adjusted body weight support force. Similar force-position control solutions are widely employed in advanced mechatronic systems, e.g., in devices for upper and lower limb rehabilitation [64][65][66][67].…”

Section: Discussionmentioning

confidence: 99%

Modeling and Control of an Underactuated System for Dynamic Body Weight Support

2021

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This article concerns the stability analysis of a control system for a dynamic body weight support system in a rehabilitation device for the re-education of human gait. The paper presents a physical model of the device, which characterizes the most important physical phenomena associated with the movement of the system, i.e., inertia, damping, and elasticity. The device has one active and one passive element. They are connected by a connector with elastic and damping properties. This solution provides the kinematic chain required due to interactions with humans, while at the same time ensures that the device is an underactuated system. The article also presents the methodology used to verify the stability of the control system while acting as an active body weight support system. The paper formulates the mathematical model of the system that was used in the synthesis of control using the Lyapunov theory of stability. The results of simulation and experimental tests are also presented.

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“…In order to verify the operation of the S-function, a position-force control system was built in Simulink based on the algorithm described in [27]. The purpose of the algorithm is to implement the trajectory of motion in a direction tangent to the path and the trajectory of the force in the direction normal to the path [27,28]. To carry out the experiment, the stand shown in Figure 5 was used.…”

Section: Methodsmentioning

confidence: 99%

EGM Toolbox—Interface for Controlling ABB Robots in Simulink

Obal

Gierlak

2021

Sensors

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The development of industrial robotics requires the use of increasingly sophisticated control algorithms. In modern tasks posed by industry, it is not sufficient for the manipulator to move along a programmed path, reaching individual points with the greatest accuracy. There is a need for solutions that can allow detection and avoidance of obstacles appearing on the robot’s path and that can compensate the path for low-repetitive workpieces, adjust the strength of the impact of manipulator tools on the workpiece or enable safe cooperation of manipulators with people. To support this development, this work proposes an interface for controlling industrial robots in the Simulink environment. With its use, we can easily test our control algorithms using an external controller without the need to write an extensive program in the RAPID language. The robot controller’s task is to control the drives to achieve the set trajectory.

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Position/Force Control of Manipulator in Contact with Flexible Environment

Cited by 7 publications

References 28 publications

Adaptive Position/Force Control of a Robotic Manipulator in Contact with a Flexible and Uncertain Environment

Adaptive Position/Force Control of a Robotic Manipulator in Contact with a Flexible and Uncertain Environment

Modeling and Control of an Underactuated System for Dynamic Body Weight Support

EGM Toolbox—Interface for Controlling ABB Robots in Simulink

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