TAILIEUCHUNG - Position force control for robot manipulator without force and velocity measurements
The paper proposes a new adaptive control method to control the position and force of the robot manipulators without velocity and force measurements. This method is performed by a combination of a position and force adaptive control algorithm with a force/velocity observer. With GPI technique (Generalized Proportional Integral), the force/velocity observer is designed to give estimates of force and velocity to feedback to the controller. | Journal of Science & Technology 128 (2018) 007-013 Position/Force Control for Robot Manipulators Without Force and Velocity Measurements Dao Minh Tuan1,2*, Tran Duc Thuan2 1 2. Hung yen University of Technology and education, Dan tien, Khoai chau, Hung yen, Viet Nam Academy of Military Science and Technology, No. 17, Hoang Sam, Cau Giay, Hanoi, Viet Nam Received: August 10, 2017; Accepted: May 25, 2018 Abstract The paper proposes a new adaptive control method to control the position and force of the robot manipulators without velocity and force measurements. This method is performed by a combination of a position and force adaptive control algorithm with a force/velocity observer. With GPI technique (Generalized Proportional Integral), the force/velocity observer is designed to give estimates of force and velocity to feedback to the controller. The control algorithm is based on Slotine-Li's adaptive position control law and is added a component that controls the interaction force between the end-effector of robot manipulators with the environment. In addition, a parameter updating law is designed to adapt to the change in dynamic parameters when the robot manipulators work under environmental constraints. Simulations are made on the Matlab Simulink software to demonstrate the results of the algorithm. Keywords: Force control, GPI technique, force control without force sensor, hybrid force/position control, adaptive control 1. Introduction* estimation and an adaptive law to estimate the force for the controller of manipulator [13]. An adaptive scheme is proposed for robot manipulator that perform an interaction task with rigid surface [14]. In this work, both the robot and constraint surface parameters are uncertain. In [15], a research was devoted to sensorless adaptive force/position control of robot manipulators using a position-based adaptive force estimator (AFE) and a force-based an adaptive environment compliance estimator. In this method, the unknown .
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