2021
DOI: 10.3390/app11094222
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State Machine-Based Hybrid Position/Force Control Architecture for a Waste Management Mobile Robot with 5DOF Manipulator

Abstract: When robots are built with state-driven motors, task-planning increases in complexity and difficulty. This type of actuator is difficult to control, because each type of control position/force requires different motor parameters. To solve this problem, we propose a state machine-driven hybrid position/force control architecture (SmHPFC). To achieve this, we take the classic hybrid position/force control method, while using only PID regulators, and add a state machine on top of it. In this way, the regulators w… Show more

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Cited by 5 publications
(3 citation statements)
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“…More recently, [39][40][41] underline the importance of a noninteraction in the control strategy to simplify the structure of the controller. In the same way, [42][43][44] point out the importance of the position/force control in robotic manipulation.…”
Section: Main Contribution Of the Papermentioning
confidence: 88%
“…More recently, [39][40][41] underline the importance of a noninteraction in the control strategy to simplify the structure of the controller. In the same way, [42][43][44] point out the importance of the position/force control in robotic manipulation.…”
Section: Main Contribution Of the Papermentioning
confidence: 88%
“…The paper in [21] describes a hybrid position and force control architecture based on a finite state machine, which is applied to a robotic manipulator with five degrees of freedom. That control approach is tested on a waste management robotic systems adopted to the selective recycling of different types of materials.…”
Section: Modelling and Control Of Mechatronic And Robotic Systems Vol...mentioning
confidence: 99%
“…At present, force/position switching control is one of the biggest problems in the field of control (Budiman and Tomizuka, 1999). Scholars have studied the force/position switching control methods and proposed some control methods, such as adaptive control (Takahashi et al, 2008), impedance control (Al-Shuka et al, 2018; Zhou et al, 2018), nonlinear damping control (Long et al, 2013), and dynamic hybrid force position control (Gal et al, 2021; Peng et al, 2023).…”
Section: Introductionmentioning
confidence: 99%