A Family of Hyperbolic-Type Explicit Force Regulators with Active Velocity Damping for Robot Manipulators

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 velocit...

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Bibliographic Details
Published in:Journal of robotics 2018-01, Vol.2018 (2018), p.1-15
Main Authors: Reyes-Cortés, Fernando, González-Galván, Emilio J., Chávez-Olivares, César
Format: Article
Language:English
Subjects:
Active damping
Automation
Control algorithms
Controllers
Decomposition
Energy dissipation
Error analysis
Feedback
Hyperbolic functions
Liapunov functions
Manipulators
Mathematical problems
Parameter identification
Regulation
Robot arms
Robotics
Robots
Simulation
Velocity
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Summary: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.
ISSN:1687-9600
1687-9619
DOI:10.1155/2018/9324623