Position/Force Control for Robot Manipulators Without Force and Velocity Measurements
Main Article Content
Abstract
The paper proposes a new adaptive control method to control the position and force of the robot manipulators without velocity and force measurements. This method is performed by a combination of a position and force adaptive control algorithm with a force/velocity observer. With GPI technique (Generalized Proportional Integral), the force/velocity observer is designed to give estimates of force and velocity to feedback to the controller. The control algorithm is based on Slotine-Li’s adaptive position control law and is added a component that controls the interaction force between the end-effector of robot manipulators with the environment. In addition, a parameter updating law is designed to adapt to the change in dynamic parameters when the robot manipulators work under environmental constraints. Simulations are made on the Matlab Simulink software to demonstrate the results of the algorithm.
Keywords
Force control, GPI technique, force control without force sensor, hybrid force/position control, adaptive control
Article Details
References
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[2] B. Siciliano and L. Villani, Robot force control vol. 540: Springer Science & Business Media, 2012.
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[13] J. Jung, J. Lee, and K. Huh, "Robust contact force estimation for robot manipulators in three-dimensional space," Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, vol. 220, pp. 1317-1327, 2006.
[14] J. Pliego-Jiménez and M. A. Arteaga-Pérez, "Adaptive position/force control for robot manipulators in contact with a rigid surface with uncertain parameters," European Journal of Control, vol. 22, pp. 1-12, 2015.
[15] S. A. M. Dehghan, M. Danesh, and F. Sheikholeslam, "Adaptive hybrid force/position control of robot manipulators using an adaptive force estimator in the presence of parametric uncertainty," Advanced Robotics, vol. 29, pp. 209-223, 2015.
[16] M. A. Arteaga-Pérez and A. Gutiérrez-Giles, "A simple application of GPI observers to the force control of robots," in Control, Decision and Information Technologies (CoDIT), 2014 International Conference on, 2014, pp. 303-308.
[17] J. Cortés-Romero, A. Luviano-Juárez, and H. Sira-Ramírez, "Sliding Mode Control Design for Induction Motors: An Input–Output Approach," in Sliding Mode Control, ed: InTech, 2011.
[18] J.-J. E. Slotine and W. Li, "On the adaptive control of robot manipulators," The international journal of robotics research, vol. 6, pp. 49-59, 1987.
[19] J. Gudino-Lau and M. A. Arteaga, "Dynamic model and simulation of cooperative robots: a case study," Robotica, vol. 23, pp. 615-624, 2005.
[2] B. Siciliano and L. Villani, Robot force control vol. 540: Springer Science & Business Media, 2012.
[3] J. J. Craig and M. H. Raibert, "A systematic method of hybrid position/force control of a manipulator," in Computer Software and Applications Conference, 1979. Proceedings. COMPSAC 79. The IEEE Computer Society’s Third International, 1979, pp. 446-451.
[4] R. Colbaugh, H. Seraji, and K. Glass, "Direct adaptive impedance control of robot manipulators," Journal of Field Robotics, vol. 10, pp. 217-248, 1993.
[5] B. Siciliano and L. Villani, "Adaptive compliant control of robot manipulators," Control Engineering Practice, vol. 4, pp. 705-712, 1996.
[6] M. S. de Queiroz, D. Dawson, and T. Burg, "Position/force control of robot manipulators without velocity/force measurements," in Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on, 1996, pp. 2561-2566.
[7] J. C. Martinez-Rosas, M. A. Arteaga, and A. M. Castillo-Sánchez, "Decentralized control of cooperative robots without velocity-force measurements," Automatica, vol. 42, pp. 329-336, 2006.
[8] H. Sira-Ramírez, M. Ramírez-Neria, and A. Rodriguez-Angeles, "On the linear control of nonlinear mechanical systems," in Decision and Control (CDC), 2010 49th IEEE Conference on, 2010, pp. 1999-2004.
[9] A. Gutierrez-Giles and M. A. Arteaga-Perez, "Velocity/force observer design for robot manipulators," in Methods and Models in Automation and Robotics (MMAR), 2013 18th International Conference on, 2013, pp. 730-735.
[10] Y.-H. Liu, S. Arimoto, and K. Kitagaki, "Adaptive control for holonomically constrained robots: time-invariant and time-variant cases," in Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on, 1995, pp. 905-912.
[11] C.-Y. Su and Y. Stepanenko, "Adaptive sliding mode coordinated control of multiple robot arms attached to a constrained object," IEEE transactions on systems, man, and cybernetics, vol. 25, pp. 871-878, 1995.
[12] H. Kawasaki, S. Ueki, and S. Ito, "Decentralized adaptive coordinated control of multiple robot arms without using a force sensor," Automatica, vol. 42, pp. 481-488, 2006.
[13] J. Jung, J. Lee, and K. Huh, "Robust contact force estimation for robot manipulators in three-dimensional space," Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, vol. 220, pp. 1317-1327, 2006.
[14] J. Pliego-Jiménez and M. A. Arteaga-Pérez, "Adaptive position/force control for robot manipulators in contact with a rigid surface with uncertain parameters," European Journal of Control, vol. 22, pp. 1-12, 2015.
[15] S. A. M. Dehghan, M. Danesh, and F. Sheikholeslam, "Adaptive hybrid force/position control of robot manipulators using an adaptive force estimator in the presence of parametric uncertainty," Advanced Robotics, vol. 29, pp. 209-223, 2015.
[16] M. A. Arteaga-Pérez and A. Gutiérrez-Giles, "A simple application of GPI observers to the force control of robots," in Control, Decision and Information Technologies (CoDIT), 2014 International Conference on, 2014, pp. 303-308.
[17] J. Cortés-Romero, A. Luviano-Juárez, and H. Sira-Ramírez, "Sliding Mode Control Design for Induction Motors: An Input–Output Approach," in Sliding Mode Control, ed: InTech, 2011.
[18] J.-J. E. Slotine and W. Li, "On the adaptive control of robot manipulators," The international journal of robotics research, vol. 6, pp. 49-59, 1987.
[19] J. Gudino-Lau and M. A. Arteaga, "Dynamic model and simulation of cooperative robots: a case study," Robotica, vol. 23, pp. 615-624, 2005.