High performance force control - A new approach and suggested benchmark tests

Bruhm, Hartmut; Czinki, Alexander; Lotz, Markus

doi:10.1016/j.ifacol.2015.08.126

Cited by 5 publications

(9 citation statements)

References 7 publications

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“…Figure 6a shows DMs for the case of a soft environment where the main interacting dynamics are given by the link. Since the considered scenario resembles the LD-DOB nominal plant (8), the LD-DOB achieves higher stability margins while the LO-DOB significantly deteriorates the inherent plant stability as the frequency w q increases. On the other hand, Figure 6b shows DMs in the case of a stiff interacting environment.…”

Section: Stability Robustness Comparisonmentioning

confidence: 99%

“…To shed light on this kind of issue, the benchmarking of force control algorithms has been recently investigated [4][5][6][7]. Although issues due to the interacting environment have been recognized by the robotics community, it is quite surprising that existing works on force control benchmarking have not adequately addressed them [5][6][7][8][9]. For example, in [7] the environment is just considered as "a dummy load of 2.5 kg attached at the tip of the link", while in [9] the authors propose using "environmental conditions that model a worst-case scenario with the highest possible effective contact stiffness".…”

Section: Introductionmentioning

confidence: 99%

“…For example, in [5] the authors simply neglect friction as they do not see "reliable possibilities to establish standardized friction conditions which allow for the comparison of results". Moreover, in [8] authors have to perform multiple experiments to assess the benchmarking results eventually using a "possible model-based friction compensation". Therefore, we believe that the algorithm proposed in this paper could be a significant contribution to developing reliable force control benchmarking solutions.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Environment Aware Friction Observer with Applications to Force Control Benchmarking

Dimo,

Calanca

2024

Actuators

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The benchmarking of force control algorithms has been significantly investigated in recent years. High-fidelity experimental benchmarking outcomes may require high-end electronics and mechanical systems not to compromise the algorithm’s evaluation. However, affordability may be highly desired to spread benchmarking tools within the research community. Mechanical inaccuracies due to affordability can lead to undesired friction effects which in this paper are tackled by exploiting a novel friction compensation technique based on an environment-aware friction observer (EA-FOB). Friction compensation capabilities of the proposed EA-FOB are assessed through simulation and experimental comparisons with a widely used static friction model: Coulomb friction combined with viscous friction. Moreover, a comprehensive stability comparison with state-of-the-art disturbance observers (DOBs) is conducted. Results show higher stability margins for the EA-FOB with respect to traditional DOBs. The research is carried on within the Forecast project, which aims to provide tools and metrics to benchmark force control algorithms relying on low-cost electronics and affordable hardware.

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Section: Stability Robustness Comparisonmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Environment Aware Friction Observer with Applications to Force Control Benchmarking

Dimo,

Calanca

2024

Actuators

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“…In the field of robotized mechanical processing [4,7,14], an important and topical issue is the development and implementation of a strategy for movement control, which could provide an appropriate quality of mechanical processing, despite the occurrence of phenomena that are not modelled, e.g., caused by significant errors in the description of the geometry of the processed component parts (connected with the uncertainty of their location regarding the robot) or local disturbances of their surface [20][21][22][23][24][25][26][27][28][29]. The present paper is concerned with the synthesis of movement control systems in the cases of disturbances of natural position constraints, which are the result of surface susceptibility and inaccuracies in its description.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Position/Force Control of a Robotic Manipulator in Contact with a Flexible and Uncertain Environment

Gierlak

2021

Robotics

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The present paper concerns the synthesis of robot movement control systems in the cases of disturbances of natural position constraints, which are the result of surface susceptibility and inaccuracies in its description. The study contains the synthesis of control laws, in which the knowledge of parameters of the susceptible environment is not required, and which guarantee stability of the system in the case of an inaccurately described contact surface. The novelty of the presented solution is based on introducing an additional module to the control law in directions normal to the interaction surface, which allows for a fluent change of control strategy in the case of occurrence of distortions in the surface. An additional module in the control law is perceived as a virtual viscotic resistance force and resilient environment acting upon the robot. This interpretation facilitates intuitive selection of amplifications and allows for foreseeing the behavior of the system when disturbances occur. Introducing reactions of virtual constraints provides automatic adjustment of the robot interaction force with the susceptible environment, minimizing the impact of geometric inaccuracy of the environment.

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“…Industrial robots are being used in increasingly complex production tasks that require the use of more sophisticated algorithms for controlling the movements of manipulators and sensory systems. These include machining processes such as deburring, edge rounding, grinding, or polishing [1][2][3]. These processes use force control systems that control the force exerted on the tool by contact with the workpiece.…”

Section: Introductionmentioning

confidence: 99%

EGM Toolbox—Interface for Controlling ABB Robots in Simulink

Obal

Gierlak

2021

Sensors

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The development of industrial robotics requires the use of increasingly sophisticated control algorithms. In modern tasks posed by industry, it is not sufficient for the manipulator to move along a programmed path, reaching individual points with the greatest accuracy. There is a need for solutions that can allow detection and avoidance of obstacles appearing on the robot’s path and that can compensate the path for low-repetitive workpieces, adjust the strength of the impact of manipulator tools on the workpiece or enable safe cooperation of manipulators with people. To support this development, this work proposes an interface for controlling industrial robots in the Simulink environment. With its use, we can easily test our control algorithms using an external controller without the need to write an extensive program in the RAPID language. The robot controller’s task is to control the drives to achieve the set trajectory.

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High performance force control - A new approach and suggested benchmark tests

Cited by 5 publications

References 7 publications

Environment Aware Friction Observer with Applications to Force Control Benchmarking

Environment Aware Friction Observer with Applications to Force Control Benchmarking

Adaptive Position/Force Control of a Robotic Manipulator in Contact with a Flexible and Uncertain Environment

EGM Toolbox—Interface for Controlling ABB Robots in Simulink

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