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A Robust Hybrid Position/Force Control Considering Motor Torque Saturation

Takashi Ohhira, Keinosuke Yokota, Shuichi Tatsumi, Toshiyuki Murakami
2021 IEEE Access  
This paper proposes a robust hybrid position/force control (HPFC) system for multi-degree of freedom manipulators (MDoFMs) with torque constraints on each joint.  ...  Consequently, the stability and robustness of the actuators are considered, and suitable position/force control can be performed even if the torque is saturated.  ...  INTRODUCTION Hybrid position/force control (HPFC) [1] , [2] is a control method for the positions and forces of multi-degree of freedom manipulators (MDoFM), by which it is possible to control the position  ... 
doi:10.1109/access.2021.3059889 fatcat:kb6mbopvabadlnzn3fxti62wi4

RNN for Motion-Force Control of Redundant Manipulators with Optimal Joint Torque [chapter]

Xuefeng Zhou, Zhihao Xu, Shuai Li, Hongmin Wu, Taobo Cheng, Xiaojing Lv
2020 AI based Robot Safe Learning and Control  
Precise position force control is the core and difficulty of robot technology, especially for robots with redundant degrees of freedom.  ...  The robot position control based on recursive neural network is extended to the robot position control based on position force, which opens a new way for the robot to turn from simple control angle to  ...  In [19] , a hybrid position force controller is proposed which combines position information with force information to realize the simultaneous control of position constraint and force constraint.  ... 
doi:10.1007/978-981-15-5503-9_6 fatcat:pouof2e5hbatdftsyauvbufjum

Compliant motion control for non-redundant rigid robotic manipulators

A. Lanzon, R. J. Richards
2000 International Journal of Control  
A novel robust trajectory/force controller is developed on the basis of a combination of sliding-mode and adaptive control techniques. exact knowledge of robot dynamics and environment sti ness is not  ...  Changes in constraints are also taken into account in the design of the control law. The synthesis presented assumes a non-redundant rigid manipulator and known location/geometry of the environment.  ...  The rationale for cartesian position/force control is that the geometry of the external world de® nes a set of natural coordinates that can be partitioned into position-controlled variables and force-controlled  ... 
doi:10.1080/002071700219777 fatcat:bz2wtkj2z5ahziatme265ttu4a

Hybrid Position/Force Algorithms for Biped Locomotion

Filipe M. Silva, J.A. Tenreiro Machado
2000 IFAC Proceedings Volumes  
This paper addresses the problem of modelling and control of a biped robot by combining Cartesian-based position and force control algorithms.  ...  The contact of the foot with the constrained surface is modelled through linear spring-damper systems. The control algorithms are simulated and their effectiveness and robustness are discussed.  ...  POSITION/FORCE HYBRID CONTROL The essence of locomotion is to transport the body from an initial position to a desired one throughout the action of the lower limbs.  ... 
doi:10.1016/s1474-6670(17)37971-5 fatcat:ri7ihlfmfrgxnb5uvhfiwy65uu

Novel Algorithm for Effective Position/Force Control

Tarik Uzunovic, Asif Sabanovic, Minoru Yokoyama, Tomoyuki Shimono
2019 IEEJ Journal of Industry Applications  
The proposed algorithm combines position and force control into a single controller, in which the transition between position and force control is smooth, removing the oscillations of classical methods  ...  In addition, using this method one can equip actuators with a control system capable of performing both position and force control. Thus, a step towards "smart actuators" is possible.  ...  The control scheme combines model-based computed torque controller with model free neural-network-based controller. Hybrid position/force control of robotic manipulators is presented in (25) .  ... 
doi:10.1541/ieejjia.8.960 fatcat:2a7qqugjyffkfmznbdgflfi6x4

Hybrid Position/Force Control: A Correct Formulation

William D. Fisher, M. Shahid Mujtaba
1992 The international journal of robotics research  
They called this scheme hybrid position/force control, currently referred to as hybrid control.  ...  Although the difference may seem small, it has a tremendous impact on the robustness of hybrid control.  ...  Then Since the row space of (P A)+ is equal to the row space of (P A)T (which is true for any matrix [3] ) and the row space of (P Al is equal to the column space of (P A) (which is also true for any  ... 
doi:10.1177/027836499201100403 fatcat:oacdombi2bdfra3flf4qkulgby

A smooth position-force controller for asbestos removal manipulator

Kamal Mohy El Dine, Juan-Antonio Corrales-Ramon, Youcef Mezouar, Jean-Christophe Fauroux
2017 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)  
In this paper, we present a smooth hybrid force/position controller based on distance measurements from radars, enabling the robot to achieve a stable interaction with the environment while grinding an  ...  In robotic grinding tasks, the robot controller must reactively adapt to sudden changes in the environment and be able to handle uncertainties in texture, change in materials, and disturbances caused by  ...  On the other hand, hybrid position/force falls within the direct force control category.  ... 
doi:10.1109/robio.2017.8324599 dblp:conf/robio/DineRMF17 fatcat:fvob6aajvngz3dwwrhesltyc5m

Hybrid Position/Force Control of a Cable-Driven Parallel Robot with Experimental Evaluation [chapter]

Werner Kraus, Philipp Miermeister, Valentin Schmidt, Andreas Pott
2014 Mechanisms and Machine Science  
In this paper, we present a hybrid position-force control, which allows for applying defined forces on the environment and simultaneous movement along the surface.  ...  In this paper, we present a hybrid position-force con on the environment and simultaneous movement along the surf cable forces to ensure the stability of the platform during movem imentally investigated  ...  Conclusions In this paper, we proposed an adaption of the well-known hybrid position-force control for a cable robot.  ... 
doi:10.1007/978-3-319-09411-3_59 fatcat:plxzowd6erf4bmvig544tcjzpq

Hybrid position/force control of flexible-macro/rigid-micro manipulator systems

T. Yoshikawa, K. Harada, A. Matsumoto
1996 IEEE Transactions on Robotics and Automation  
Second, a quasi-static hybrid control algorithm and a dynamic hybrid control algorithm are developed.  ...  Abstruct-In this paper, hybrid positiodforce control algorithms of combined flexible-macrokigid-micro manipulator systems are proposed.  ...  Hosoda, faculty of engineering, Osaka university for his helpful discussions, and Mr. H. Murakami, Ishikawajima-Harima Heavy Industries Co. Ltd., for his support in building the experimental system.  ... 
doi:10.1109/70.508447 fatcat:nd74g7lb3vavrjbvyb6fhqaovq

Hybrid Position-Force Control of a Cable-Driven Parallel Robot with Experimental Evaluation

W. Kraus, P. Miermeister, V. Schmidt, A. Pott
2015 Mechanical Sciences  
In this paper, we present a hybrid position-force control, which allows for applying defined forces on the environment and simultaneous movement along the surface.  ...  The performance of the controller is experimentally investigated regarding contact establishment and dynamic behavior during a motion on the cable robot IPAnema 3.</p>  ...  Conclusions In this paper, we proposed an adaption of the well-known hybrid position-force control for a cable robot.  ... 
doi:10.5194/ms-6-119-2015 fatcat:db7vvocgffa3jfd4hytqw67rse

Sensor-based hybrid position/force control of a robot manipulator in an uncalibrated environment

Di Xiao, B.K. Ghosh, Ning Xi, T.J. Tarn
2000 IEEE Transactions on Control Systems Technology  
This paper is devoted to the problem of controlling a robot manipulator for a class of constrained motions.  ...  Index Terms-Force torque sensor, hybrid control, multisensor fusion, planner, vision system.  ...  Force Control The basic hybrid position/force control scheme was originally proposed by Raibert and Craig [47] .  ... 
doi:10.1109/87.852909 fatcat:7z4jqyl2qzgjtkewhivj4sdkpq

State Machine-Based Hybrid Position/Force Control Architecture for a Waste Management Mobile Robot with 5DOF Manipulator

Ionel-Alexandru Gal, Alexandra-Cătălina Ciocîrlan, Mihai Mărgăritescu
2021 Applied Sciences  
To achieve this, we take the classic hybrid position/force control method, while using only PID regulators, and add a state machine on top of it.  ...  This type of actuator is difficult to control, because each type of control position/force requires different motor parameters.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/app11094222 fatcat:nz473c5tcfbsrcktfarpk2qh34

Optimal image-based task-sequence/path planning and robust hybrid vision/force control of industrial robots

Bahar Ahmadi, Ehsan Zakeri, Wen-Fang Xie
2022 IEEE Access  
Date of publication xxxx 00, 0000, date of current version xxxx 00, 0000.  ...  To this end, hybrid position/force control approach has been used in industries [10] - [14] .  ...  HYBRID VISION/FORCE CONTROLLER DESIGN In this section, FQSMC is designed to exploit a novel VGOSM for hybrid control of vision and force which leads to robustness against uncertainties and noises.  ... 
doi:10.1109/access.2022.3156919 fatcat:btn5bsynmnbhvl2ozuv3k3ys4e

Adaptive hybrid position/force control of dual-arm cooperative manipulators with uncertain dynamics and closed-chain kinematics

Yi Ren, Zhengsheng Chen, Yechao Liu, Yikun Gu, Minghe Jin, Hong Liu
2017 Journal of the Franklin Institute  
In this paper, a novel adaptive control for dual-arm cooperative manipulators is proposed to accomplish the hybrid position/force tracking in the presence of dynamic and closed-chain kinematic uncertainties  ...  Three sets of simulations corresponding to three different situations are presented to verify the effectiveness and superiority of the proposed controller.  ...  This work is supported by the Foundation for Innovative Research Groups of the National Natural Science Foundation of China (nos. 51521003 and 61603112 ).  ... 
doi:10.1016/j.jfranklin.2017.09.015 fatcat:n73sh5lfhzacrkeo7742r4xgzi

Fault‐tolerant teleoperation systems design

Mehmet Dede, Sabri Tosunoglu, Mike Wilson
2006 Industrial robot  
Position/force control algorithms are recommended to address stability issues when there is a loss in communications.  ...  These "extraordinary" conditions can be classified as variable time delays in communications lines, usage of different robotic systems, component failures and changes in the system parameters during task  ...  Widely used algorithms in the literature of position/force controllers are stiffness, impedance, admittance, hybrid position/force, and hybrid impedance controllers (Dede, 2003) .  ... 
doi:10.1108/01439910610685034 fatcat:rh3m5lcpdjesnldrs5uozdrinm
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