Hybrid model-based force/position control: theory and experimental verification

Authors:
Rafael Osypiuk;Bernd Finkemeyer
Affiliations:
Institute of Control Engineering, Szczecin University of Technology, ul. 26 Kwietnia 10, 70–313 Szczecin, Poland;KUKA Roboter GmbH, Zugspitzstrasse 140, Augsburg 86165, Germany
Venue:
Robotica
Year:
2006

Citing 5
Cited 0

Robot Dynamics and Control

Robot Dynamics and Control
Introduction to Robotics: Mechanics and Control

Introduction to Robotics: Mechanics and Control
Forward-model-based control system for robot manipulators

Robotica
Multi-loop model-based control structure for robot manipulators

Robotica
Simple two degree of freedom structures and their properties

Robotica

Quantified Score

Hi-index	0.00

Visualization

Abstract

Force/position control is a relatively young and rapidly developing branch of robotics. Its practical implementation faces many difficulties due to inherent process complexity. Despite this, the majority of contributions in this field use the classic approach to force control, i.e. single-loop PID control. In this paper, two model-based control structures are proposed, yielding much better results of force control as compared to the classic approach, to be achieved. These are two-loop model-following control (MFC) structures that guarantee interesting disturbance suppression behaviour by an additional degree of freedom. Tests carried out with a Manutec r2 manipulator with six degrees of freedom have shown clear advantages of the control structures under study.