Abstract
The importance of robot contact operation control has been increasing recently due to a need for robots to interact more with the outside world. However, traditional robot compliance control cannot take both transient contact force overshoots and steady-state force tracking error problems into account. To address this problem, this paper aims to design a dynamic adaptive hybrid impedance (DAHI) controller to deal with dynamic contact force tracking in uncertain environments (e.g., polishing scenarios). Under the premise of analyzing the transient response and steady-state error in the hybrid impedance control (HI) and adaptive hybrid impedance (AHI) control, the DAHI control, which combines the advantages from HI and AHI control, is applied to improve the performance of AHI controller. The main goal of such a controller is to avoid force overshoots in the contact stage while maintaining force tracking error in the dynamic tracking stage. The proposed controller is capable of adapting its update rate parameter online in order to track a reference force in uncertain environments. Besides, it does not require any modeling or estimation of an environment's dynamics or the robot's dynamics. The simulation and experimental results both show the achieved control performance. The results have also been compared with the previous control methods.
Highlights
With the development of robot technology, contact operation is becoming an important area of robot application
The contribution of this paper validates the proposed dynamic adaptive hybrid impedance (DAHI) control for dynamic force tracking in uncertain environments
The three experiments and simulations all verify that DAHI (Exp) has the accuracy force tracking ability as AHI at the steady force tracking stage
Summary
With the development of robot technology, contact operation is becoming an important area of robot application. Due to most of the application robots being industrial robots that can only be controlled in position mode, several schemes were proposed to study the position-based impedance controller and to analyze performance and stability [25], [26]. Roveda et al [28] proposed an analytical force overshoots free control architecture based on the estimation of the equivalent interacting elastic system stiffness for standard industrial manipulators. Sheng and Zhang [30] proposed a fuzzy adaptive hybrid impedance control scheme for the supporting side of a mirror milling system, which is capable of solving the force supporting problem with a time-varying environment stiffness. A simple and practical solution has not been presented to cope with industrial applications
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