Abstract
When robots are built with state-driven motors, task-planning increases in complexity and difficulty. This type of actuator is difficult to control, because each type of control position/force requires different motor parameters. To solve this problem, we propose a state machine-driven hybrid position/force control architecture (SmHPFC). 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. In this way, the regulators will not help the control architecture, but the architecture will help the entire control system. The architecture acts both as a parameter update process and as a switching mechanism for the joints’ decision S-matrix. The obtained control architecture was then applied to a 5DOF serial manipulator built with Festo motors. Using SmHPFC, the robot was then able to operate with position or force control depending on its designated task. Without the proposed architecture, the robot joint parameters would have to be updated using a more rigid approach; each time a new task begins with new parameters, the control type would have to be changed. Using the SmHPFC, the robot reference generation and task complexity is reduced to a much simpler one.
Highlights
Accepted: 3 May 2021Waste management is a growing concern and problem [1] around the world and especially in the European Union
We have proposed the hybrid position/force control combined with a state machine which will be called state machine-based hybrid position/force control (SmHPFC)
The decision algorithm is the component that turns the static hybrid position/force control method into a dynamic control by changing the Raibert and Craig [15] static configuration of the S-matrix, and updating its values depending on a deterministic state machine
Summary
Waste management is a growing concern and problem [1] around the world and especially in the European Union. One way of preventing the static use of the S-matrix is to create a state feedback decision as Pasolli et al [38] proposed Their approach was to switch between position and force control on certain robot joints when the system required it, improving upon the classic hybrid position/force control of Raibert and Craig [15] by adding a decision layer to constantly change the position and force diagonal matrix S when certain events occur.
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