Abstract
Robot force control is an important issue for intelligent mobile robotics. The end-point stiffness of a robot is a key and open problem in the research community. The control strategies are mostly dependent on both the specifications of the task and the environment of the robot. Due to the limited stiffness of the end-effector, we may adopt inherent torque to feedback the oscillations of the controlled force. This paper proposes an effective control strategy which contains a controller using quantitative feedback theory. The nested loop controllers take into account the physical limitation of the system's inner variables and harmful interference. The biggest advantage of the method is its simplicity in both the design process and the implementation of the control algorithm in engineering practice. Taking the one-link manipulator as an example, numerical experiments are carried out to verify the proposed control method. The results show the satisfactory performance.
Highlights
With the wide demand for robots in industrial systems, the research and application of robotic designs and control have rapidly gained widespread popularity [1]‐ [4]
This paper concerns the issue of robotic force control in the case of parameter uncertainties in engineering applications
A novel method is proposed for contact force control
Summary
With the wide demand for robots in industrial systems, the research and application of robotic designs and control have rapidly gained widespread popularity [1]‐ [4]. With the requirements for higher accuracy in industrial operations, better energy efficiency and lower manipulation costs have resulted in considering the inherent oscillating torque feedback and harmful interference. In these problems [11]‐[18], the knowledge of kinematics between the joint and contact space is needed, and the contact surface should be considered. The majority of the proposed control schemes for robot contact tasks require exact knowledge of the kinematics in order to reach performance requirements. Based on an engineering optimization algorithm, the advantage of this proposed method is to simplify the design process and implement engineering applications
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