abstract

• In various automated industrial, medical, or service applications using robotic systems it is required to regulate both robot movement and contact force. In order to address this control problem, this paper presents a force/position control structure that has two characteristics that are very relevant in robot-environment interaction tasks. First, the structure of the controller is based on the use of generalized saturation functions, and this makes it possible to ensure that the robot actuators operate within a safe region without exceeding their torque limits. On the other hand, an adaptable term is included within the structure that allows to compensate for parametric uncertainty related to gravitational forces and the stiffness of the environment on which the robot operates. The validity and correct performance of the proposed control structure is based on a rigorous stability analysis, as well as numerical simulations using a three-degree-of-freedom robot manipulator. © 2022, The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature.

authors

• Chávez-Olivares C.

publication date

• 2022-01-01

funding provided via

• PII19-2; Consejo Nacional de Ciencia y Tecnología, CONACYT: 2018-000012-01NACF-11014  Grant

published in

• Journal of Mechanical Science and Technology  Journal

keywords

• Adaptive control; Bounded inputs; Force/position control; Generalized saturation functions; Robot manipulator Degrees of freedom (mechanics); Flexible manipulators; Industrial robots; Modular robots; Adaptive Control; Bounded input; Control structure; Force/position control; Generalized saturation function; Robot movements; Robotic systems; Robots manipulators; Saturation function; Services applications; Robot applications

Digital Object Identifier (DOI)

• 10.1007/s12206-022-0236-1

PubMed ID

start page

• 1497

end page

• 1509

volume

• 36

issue

• 3