Saturating Stiffness Control of Robot Manipulators with Bounded Inputs

Rodríguez-Liñán, M.C.; Mendoza, Marco; Bonilla, Isela; Chávez-Olivares, César

doi:10.1515/amcs-2017-0006

Cited by 10 publications

(11 citation statements)

References 32 publications

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“…whereẍ ∈ R m andẋ ∈ R m represent the acceleration and velocity of the robot, respectively [16]. While…”

Section: Preliminariesmentioning

confidence: 99%

“…Therefore, by considering Properties 2 and 3, and satisfying (13), V 0 (x,ẋ) is positive definite, thus V (x,ẋ,θ ) is concluded to be positive definite. Thereafter, the time-derivative of (17), along the trajectories of the closed-loop system (16), is given bẏ…”

Section: Adaptive Nonlinear Pd-type Control Structurementioning

confidence: 99%

“…This scheme use the difference between the position of the end-effector and a constant position, multiplied by a stiffness matrix that represents the environment, so the controller reproduces the behavior of a linear elastic material [13,14]. The stiffness control problem was recently addressed in [15], where a family of stiffness controllers in task-space is proposed and the corresponding Lyapunov stability analysis is presented; and in [16], where a saturating stiffness control scheme for robots with bounded inputs is proposed.…”

Section: Introductionmentioning

confidence: 99%

“…On the other hand, a highly adaptable and reliable control system is required for robot-assisted therapy, in order to ensure the user's safety during human-robot interaction [7,16,19]. The spasticity present in people who have suffered a stroke is the condition most important to be treated, since is it necessary to consider the muscular stiffness of each patient to offer therapies in a personal way; so that, the proposed scheme would be an ideal tool for passive robot-assisted therapies, since it would adapt therapy exercises according with the user's estimated muscular stiffness, thus avoiding possible injuries.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

An adaptive stiffness control scheme for robot manipulators in task-space

Maldonado‐Fregoso¹,

Mendoza-Gutiérrez²,

Bonilla³

2018

Modelling, Simulation and Identification / 858: Intelligent Systems and Control

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In applications where robot manipulators are in contact with the environment, better known as constrained-motion applications, it is necessary to have a control algorithm that guarantees a suitable interaction between the robot and its environment. The main interaction control schemes in taskspace require accurate knowledge of the dynamics of the system to be controlled; then, if the parameters of the environment and the robotic system are unknown, it is essential to use adaptive control schemes. This paper presents an adaptive stiffness control scheme for robot manipulators, that allows to solve the problem of interaction control in the face of parametric uncertainty about the stiffness of the environment and the gravitational forces acting on the robot. The control structure is based on a regressor to estimate the unknown parameters and it is supported by a stability analysis, in the Lyapunov sense, to demonstrate the asymptotic stability of the equilibrium point of the closed-loop system. Finally, some results obtained in simulation are presented in order to verify the correct performance of the proposed control structure.

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“…whereẍ ∈ R m andẋ ∈ R m represent the acceleration and velocity of the robot, respectively [16]. While…”

Section: Preliminariesmentioning

confidence: 99%

Section: Adaptive Nonlinear Pd-type Control Structurementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

An adaptive stiffness control scheme for robot manipulators in task-space

Maldonado‐Fregoso¹,

Mendoza-Gutiérrez²,

Bonilla³

2018

Modelling, Simulation and Identification / 858: Intelligent Systems and Control

View full text Add to dashboard Cite

show abstract

“…The work presented in [14] shows a nonlinear adaptive controller reminiscent of computed-torque-type scheme is used with saturated terms. In [21] a PD-type saturating stiffness control scheme with bounded torque inputs is presented; the corresponding local Lyapunov stability proof of the closed-loop equilibrium point is discussed. In these last two works, only simulation results are presented.…”

Section: Introductionmentioning

confidence: 99%

A family of hyperbolic-type control schemes for robot manipulators

Reyes-Cortés¹,

Felix-Beltran²,

Cid-Monjaraz³

et al. 2019

Kybernetika

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A generalized adaptive stiffness control scheme for robot manipulators with bounded inputs

Maldonado‐Fregoso

Mendoza-Gutiérrez

Bonilla-Gutiérrez

et al. 2020

Asian Journal of Control

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In general, indirect force control schemes (stiffness, impedance, etc.) assume that robot actuators can provide any torque value to achieve the goal of interaction control. This study attempts to regulate robot–environment interaction by generating bounded control signals and to avoid accurate knowledge of the parameters associated with gravitational effects and the stiffness of the environment. To achieve this aim, a generalized and saturating adaptive stiffness control scheme in task‐space is proposed. For the purpose of this work, the interaction or contact between the end‐effector of a robot manipulator and the environment is modeled as a vector of bounded spring‐like forces. The proposed control approach has a proportional‐derivative structure with static model‐based compensation of gravitational and interaction forces, which it achieves by including a regressor‐based adaptive term. As a theoretical basis to support the proposal, Lyapunov's stability analysis of the closed‐loop equilibrium vector is presented. Finally, the suitability of the proposed stiffness control scheme for interaction tasks is verified through simulations and experimental tests by using three‐degree‐of‐freedom robotic arms.

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Saturating Stiffness Control of Robot Manipulators with Bounded Inputs

Cited by 10 publications

References 32 publications

An adaptive stiffness control scheme for robot manipulators in task-space

An adaptive stiffness control scheme for robot manipulators in task-space

A family of hyperbolic-type control schemes for robot manipulators

A generalized adaptive stiffness control scheme for robot manipulators with bounded inputs

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