abstract

• This paper addresses the explicit force regulation problem for robot manipulators in interaction tasks. A new family of explicit force-control schemes is presented, which includes a term driven by a large class of saturated-type hyperbolic functions to handle the force error. Also, an active velocity damping term with the purpose of obtaining energy dissipation on the contact surface is incorporated plus compensation for gravity. In order to ensure asymptotic stability of the closed-loop system equilibrium point in Cartesian space, we propose a strict Lyapunov function. A force sensor placed at the end-effector of the robot manipulator is used in order to feed back the measure of the force error in the closed-loop, and an experimental comparison of the performance L2-norm between 5 explicit force control schemes, which are the classical proportional-derivative (PD), arctangent, and square-root controls and two members of the proposed control family, on a two-degree-of-freedom, direct-drive robot manipulator, is presented. © 2018 Fernando Reyes-Cortés et al.

authors

• Chávez-Olivares C.
• Gonzalez-Galvan Emilio J.
• Reyes F.

publication date

• 2018-01-01

funding provided via

• Benemérita Universidad Autónoma de Puebla, BUAP: VIEP–00110  Grant

published in

• Journal of Robotics  Journal

keywords

• Asymptotic stability; Closed loop systems; Damping; Degrees of freedom (mechanics); Energy dissipation; Flexible manipulators; Force control; Hyperbolic functions; Industrial robots; Lyapunov functions; Modular robots; Robot applications; Direct-drive robot manipulators; Experimental comparison; Explicit force control; Force regulation; Proportional derivatives; Robot manipulator; Two-degree of freedom; Velocity damping; End effectors

Digital Object Identifier (DOI)

• 10.1155/2018/9324623

start page

end page

volume

• 2018