A Family of Hyperbolic-Type Explicit Force Regulators with Active Velocity Damping for Robot Manipulators
Joint Authors
Reyes-Cortés, Fernando
Chávez-Olivares, César
González-Galván, Emilio J.
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-04-16
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
This paper addresses the explicit force regulation problem for robot manipulators in interaction tasks.
A new family of explicit force-control schemes is presented, which includes a term driven by a large class of saturated-type hyperbolic functions to handle the force error.
Also, an active velocity damping term with the purpose of obtaining energy dissipation on the contact surface is incorporated plus compensation for gravity.
In order to ensure asymptotic stability of the closed-loop system equilibrium point in Cartesian space, we propose a strict Lyapunov function.
A force sensor placed at the end-effector of the robot manipulator is used in order to feed back the measure of the force error in the closed-loop, and an experimental comparison of the performance L2-norm between 5 explicit force control schemes, which are the classical proportional-derivative (PD), arctangent, and square-root controls and two members of the proposed control family, on a two-degree-of-freedom, direct-drive robot manipulator, is presented.
American Psychological Association (APA)
Reyes-Cortés, Fernando& Chávez-Olivares, César& González-Galván, Emilio J.. 2018. A Family of Hyperbolic-Type Explicit Force Regulators with Active Velocity Damping for Robot Manipulators. Journal of Robotics،Vol. 2018, no. 2018, pp.1-15.
https://search.emarefa.net/detail/BIM-1197904
Modern Language Association (MLA)
Reyes-Cortés, Fernando…[et al.]. A Family of Hyperbolic-Type Explicit Force Regulators with Active Velocity Damping for Robot Manipulators. Journal of Robotics No. 2018 (2018), pp.1-15.
https://search.emarefa.net/detail/BIM-1197904
American Medical Association (AMA)
Reyes-Cortés, Fernando& Chávez-Olivares, César& González-Galván, Emilio J.. A Family of Hyperbolic-Type Explicit Force Regulators with Active Velocity Damping for Robot Manipulators. Journal of Robotics. 2018. Vol. 2018, no. 2018, pp.1-15.
https://search.emarefa.net/detail/BIM-1197904
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1197904