Force estimation and control in robot manipulators

In order to obtain the environment's information, cooperative robots could need a lot of sensors. A possible solution to reduce the number of sensors might be the use of control-observer structures. In this article, we have designed a control algorithm by using a modified hybrid computed torque method based on the principle of orthogonalization, but in order to avoid the use of tachometers in the implementation, we are including a velocity observer. The stability proof is developed by using the theory of Lyapunov. Simulation of the proposed control structure compared with a well-known control structure via the performance index analysis is presented. Experimental tests are implemented with the control structure that has the best performance index.

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“…; m i . By manipulating equatiuon (20), using equation (3) and substituting in equation (18), we have…”

Section: Control and Observer Designmentioning

confidence: 99%

“…18 Observers of the Luenberger type have also been employed, as shown in the literatures. 19,20 Martínez-Rosas et al designed a linear velocity observer, avoiding the use of force sensors in an open-loop scheme. 21 Later, in 2008, Martínez-Rosas and Arteaga-Pérez improved this approach by including a force observer as well.…”

Section: Introductionmentioning

confidence: 99%

Improving force tracking control performance in cooperative robots

Sánchez-Sánchez

Arteaga

2017

International Journal of Advanced Robotic Systems

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“…The adaptive control developed and simulated in the previous section is implemented and compared to the computed torque approach in real time using real-time workshop (RTW) by Mathworks ® . Since the external end-effector force is unavailable for measurement, we use an end-effector observer proposed in Alcocera et al (2003) to estimate it in this section. Figure 9 shows the complete structure design of the control.…”

Section: Experimental Validationmentioning

confidence: 99%

Adaptive coordinated control of multi-mobile manipulator systems

Gauthier

Zhu

Brahmi

et al. 2017

IJDSSS

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This paper presents an adaptive coordinated control scheme for multiple mobile manipulator robots (MMR) moving a rigid object in coordination. The dynamic parameters of the object handled and of the mobile manipulators are considered unknown but constant. The control law and the adaptation of uncertain parameters are designed using the virtual decomposition (VDC) approach. This control approach was originally applied to multiple manipulator robot systems. The proposed control design ensures that the position error in the workspace converges to zero, and that the external force error is bounded. The global stability of the system using VDC is proven through the virtual stability of each subsystem. Numerical simulations and an experimental validation are carried out for two mobile manipulators transporting an object, and are compared with the results obtained using the computed torque approach in order to show the effectiveness of the proposed controller.

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“…In addition, this methodology can also be used as an earlier step when using observers, as in [33], where an accurate model of the manipulator is needed.…”

Section: Elastic Impact Sliding Effort Rms [N]mentioning

confidence: 99%

External Force Estimation for Teleoperation Based on Proprioceptive Sensors

Sol

King

Scott

et al. 2014

International Journal of Advanced Robotic Systems

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This paper establishes an approach to external force estimation for telerobotic control in radioactive environments by the use of an identified manipulator model and pressure sensors, without employing a force/torque sensor. The advantages of -and need forforce feedback have been well-established in the field of telerobotics, where electrical and back-drivable manipulators have traditionally been used. This research proposes a methodology employing hydraulic robots for telerobotics tasks based on a model identification scheme. Comparative results of a force sensor and the proposed approach using a hydraulic telemanipulator are presented under different conditions. This approach not only presents a cost effective solution but also a methodology for force estimation in radioactive environments, where the dose rates limit the use of electronic devices such as sensing equipment.

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Force estimation and control in robot manipulators

Cited by 56 publications

References 7 publications

Improving force tracking control performance in cooperative robots

Improving force tracking control performance in cooperative robots

Adaptive coordinated control of multi-mobile manipulator systems

External Force Estimation for Teleoperation Based on Proprioceptive Sensors

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