Force Control Research Articles

Finite-time SMC-based admittance controller design of macro-micro robotic system for complex surface polishing operations

In the field of robotic polishing, achieving uniform material removal typically involves addressing the issue of constant contact force control. However, multi-source external disturbances in the polishing scenarios of complex workpiece surfaces can severely affect the robot’s force control accuracy. To enhance the responsiveness and disturbance rejection capabilities of robots in the compliant polishing process, this paper proposes an adaptive admittance controller with practical finite-time stability. A virtual control input is introduced into the basic admittance control framework in light of the state space theory, aiming to provide flexibility for common adaptive law designs. On this basis, a robust sliding mode control (SMC) algorithm is proposed to suppress external disturbances. The force tracking error is theoretically proven to achieve finite-time convergence when applying the proposed control strategy. Experimental results across various polishing scenarios demonstrate that, compared with the existing admittance control strategies, the proposed method can reduce fluctuations of the polishing force and improve the surface quality, thus verifying its effectiveness.

Method for Bottle Opening with a Dual-Arm Robot.

This paper introduces a novel approach to robotic assistance in bottle opening using the dual-arm robot TIAGo++. The solution enhances accessibility by addressing the needs of individuals with injuries or disabilities who may require help with common manipulation tasks. The aim of this paper is to propose a method involving vision, manipulation, and learning techniques to effectively address the task of bottle opening. The process begins with the acquisition of bottle and cap positions using an RGB-D camera and computer vision. Subsequently, the robot picks the bottle with one gripper and grips the cap with the other, each by planning safe trajectories. Then, the opening procedure is executed via a position and force control scheme that ensures both grippers follow the unscrewing path defined by the cap thread. Within the control loop, force sensor information is employed to control the vertical axis movements, while gripper rotation control is achieved through a Deep Reinforcement Learning (DRL) algorithm trained to determine the optimal angle increments for rotation. The results demonstrate the successful training of the learning agent. The experiments confirm the effectiveness of the proposed method in bottle opening with the TIAGo++ robot, showcasing the practical viability of the approach.

Research on dynamic performance and mechanical model of a novel magnetorheological shear thickening damper with adaptive variable damping gap

Abstract Magnetorheological shear thickening fluid (MRSTF) is an intelligent composite material, which shows considerable potential in semi-active vibration control. However, the current research is mostly limited to the study of the rheological properties of materials, and there is still a lack of damper structures that can effectively utilize the dual-control characteristics of MRSTF. In this paper, a novel damper structure with adaptive adjustable damping gap length is proposed. Its unique design integrates an adaptive internal damping gap that changes with the movement of the piston and an external gap controlled by the magnetic field, providing a relatively wide range of current-controlled damping force and reliable adaptive adjustment capabilities. Based on the M-S shear stress constitutive model and structural characteristics, the mechanical model is derived from the force balance of the micro-element, and verified by performance test and curve fitting. The effectiveness of the new damper structure proposed in this paper is verified by dynamic performance test. The results show that the damper has a wide range of current controlled damping force at low speed and reliable adaptive adjustment capability at high speed. Finally, the accuracy and universality of the modified mechanical model of damper are verified by curve fitting method. All these studies can offer an effective guidance for further application of MRSTF in the field of semi-active vibration control.

Stability and vibration control of electrostatically excited functionally graded microresonator using nonlinear observer based sliding mode controller

The dynamic stability analysis of microsystems is an important aspect in understanding the critical operating regions under different excitations. Present study proposes an observer-based adaptive back-stepping sliding mode controller (ABSMC) model to control and stabilize an electrostatically excited functionally graded microresonator. The dynamic model of a microsystem subjected to random disturbances is derived using modified couple stress theory and Euler–Bernoulli’s beam model. The effective material properties are obtained from Mori-Tanaka scheme and the equations of motion are derived using Hamilton principle and solved by Galerkin’s method. A trained neural network estimator predicts the disturbances and the adaptive back-stepping sliding mode controller is designed for improving the system stability. The results of the proposed controller are compared with conventional sliding mode control (SMC) and proportional-derivative (PD) control solutions and it is found that ABSMC reduces settling time and input control force by 52.42% and 88.40%, respectively, with minimal chattering. The proposed control methodology effectively extends the travelling range of FG microsystems within and beyond the pull-in voltage.

Curing deformation compensation in bonding assembly for high-precision linear displacement encoder sensors

Abstract Linear displacement encoder sensors extensively appear in high-precision instruments, in which the core scale is usually bonded with the scale base by adhesives. However, the curing shrinkage of the adhesives often causes a warping deformation of the moving ruler, which in turn leads to a decrease in measurement accuracy. To improve the accuracy of the bonding assembly, this paper proposes a novel deformation compensation method. A force control fixture is first designed, and a tensile force is applied to tense the scale base. The scale is then bonded to the scale base, and the tensile force is maintained until the adhesive is cured. The optimal tensile force is determined to minimize the warping deformation by combining a finite-element simulation and an artificial fish swarm algorithm. The optimal result is verified experimentally, where the warping deformation is measured using a homemade three-dimensional digital image correlation system. The experimental results demonstrate that the warping deformation of the moving ruler is reduced by 89.2% using the proposed method.

Hybrid force-position coordinated control of a parallel mechanism with the number of redundant actuators equal to its DOF

To address the demands for precision and load-bearing capacity in the installation of building panels, a hybrid force-position driven robot with redundant actuation has been developed. The mechanical performance of this robot is primarily governed by its central parallel mechanism, which is equipped with redundant actuators matching the degrees of freedom. Non-redundant and redundant actuators are respectively responsible for position and force control. The inclusion of redundant force-driven joints has increased the internal coupling within the mechanism. To enhance the coordination between position and force control, a hybrid synchronized control method based on cross-coupling has been proposed. Initially, kinematic and dynamic models of the parallel structure were established. Under predefined trajectories, the theoretical inputs for each actuator were calculated using inverse kinematics and dynamics. Subsequently, employing the principle of cross-coupling, the torque output from the position actuators was used as feedback. This feedback was processed by a synchronized coordination controller to adjust the output force of the redundant force-driven joints. By adjusting the output force of the redundant actuators, the torque burden on the position actuators was effectively reduced, thereby enhancing the precision of position control. Additionally, under the same load conditions, smaller power actuators could be utilized for position control, reducing the overall weight of the robot and improving its load-to-weight ratio. To validate the effectiveness of the proposed control strategy, a robotic simulation environment was established. The simulation results demonstrated significant reductions in the average torque required by the position actuators across three different trajectories, with reductions of 91.43%, 54.56%, and 80.6% respectively. Finally, the load-bearing capacity and the load-to-weight ratio of the prototype were assessed. Experimental results confirmed that the prototype achieved a load-to-weight ratio of 15.83%, validating the effectiveness of the hybrid synchronized control method based on cross-coupling.

Development and verification of real-time hybrid model test delay compensation method for monopile-type offshore wind turbines

The real-time hybrid model (RTHM) test is adept at addressing the scale contradiction, the lack of fidelity in wind modelling in hydrodynamic testing facilities and spatial constraints inherent in conventional monopile-type offshore wind turbine (OWT) model testing methods, thus emerging as an effective avenue for conducting physical model tests of Monopile-type OWTs. This method entails the reproduction of aerodynamic loads or platform motions using loading device or vibration tables. Time delays in the physical attributes of the loading device and signal transmission processes within the system can result in error accumulation, with the potential to impact overall system stability. Moreover, time delay compensation algorithms for hybrid model test systems with force control loading can easily generate excessive noise, leading to system divergence. As a result, time delay has emerged as a technical challenge in the RTHM test. To address this issue, this paper has developed second-order and third-order polynomial extrapolation algorithms, alongside an adaptive compensation algorithm. The adaptive compensation algorithm employs the least squares method to identify parameters of the loading system, enabling it to address variations in the time delay of the experimental system caused by the nonlinearity of the loading system and changes in the physical properties of the model. The feasibility and effects of time delay compensation for various algorithms are validated through numerical simulation. Results indicate that the adaptive compensation algorithm surpasses second and third-order polynomial extrapolation compensation algorithms in terms of accuracy and compensation effectiveness. To validate the applicability of the adaptive compensation algorithm, a RTHM test was conducted. Across rotor thrust force (RotThrust) and tower top displacement, there was an average reduction of approximately 5 % and 9 % in the maximum and minimum synchronization errors, respectively. This highlights the efficacy of the delay compensation algorithm in practical applications, notably diminishing time delay errors within the experimental system. The adaptive compensation algorithm continuously adjusts and updates parameters, enhancing the adaptability of the compensation process to time-varying systems.

Simultaneous position and force control of a SMA-actuated continuum robotic module

Continuum manipulators with controllable shape and exerting force are attractive devices. Utilizing great features of shape memory alloys (SMAs), thin continuum modules are developed. SMAs are embedded around an elastic rod and activated through a control algorithm to set a desired shape. However, complex behavior of SMAs in such a multi-input multi-output system, make the control challenging. Additionally, simultaneous control of position and the force applied by the module, as a challenging problem, has not been investigated so far. Handling this problem may increase the application of continuum robots when utilized as manipulators or when pass through narrow and complex canals with sensitive wall. In this research, position and force control of such continuum module is under focus for achieving a more practical tool for better non-invasive medical devices. Further to the position control, the amount of force applied to the environment is adjusted in different locations of the workspace through a novel fuzzy controller. The results indicate the possibility of simultaneous control of the position and force using fuzzy controller with a reasonable accuracy of 0.5° for angle and 0.05 N for the force. The concluded results may be utilized in developing smarter soft robots.

An Admittance Parameter Optimization Method Based on Reinforcement Learning for Robot Force Control

An Admittance Parameter Optimization Method Based on Reinforcement Learning for Robot Force Control

Integration of highly ordered plasmonic nanocavity array structure with the electrostatic driving force for dynamic control of SERS signals and label-free detection of λ-DNA.

With the rapid development of nanoscience and nanotechnology, surface-enhanced Raman spectroscopy (SERS) is widely used for the detection of analyte molecules and biomolecules in liquids. However, due to the plasmonic near-field effect, the key challenge of SERS detection in liquids is to attract target molecules in solutions into the plasmonic "hot spots". In this work, the SERS-active substrates (Ag@AAO) with excellent signal sensitivity and uniformity were successfully prepared by sputtering Ag films on anodized aluminum oxide (AAO) templates. Subsequently, integrating the substrate into a liquid chamber, the movement of target molecules in the liquid was effectively controlled by the electrostatic driving force, and the enrichment, separation and detection of R6 G molecules on the plasmonic "hot spots" were realized in a single device. The integrated system can dynamically control the SERS signal of low-concentration R6 G solution (10-10 M and 10-11 M). Moreover, the label-free direct detection capability of the integrated system for 30 ng/µL λ-DNA (dsDNA) is expected to greatly expand the application potential of SERS technology in biomolecular sensing and genetic engineering.

Stability analysis for passive robots walking on inclined surfaces with local angles

For common-legged robots with a kind of stiff joints, the human-like and consecutive gait shown by passive walking robots is a bit difficult to achieve because of varying degrees of control, which is usually accompanied by computational cost. Of course, passive dynamic walking undoubtedly has its inevitable disadvantages because of the lack of control, which is stability. At the same time, the significant nonlinearity of the passive gait increases the difficulty of realizing the walking stability of the passive robot. Therefore, the passive robot still needs certain control to achieve stable walking even on the natural plane or smooth slope. In this paper, a passive robot model walking on an inclined plane with a local angle is studied. First of all, the approximate solution of the nonlinear dynamic equation is given by the perturbation method, and the conditions for the robot to achieve stable walking without external forces are obtained. Further, the input-output feedback linearization control based on hybrid zero dynamics is employed to carry out virtual constraints on the passive robot during the swing stage of walking, facilitating the transition from the unstable state to the stable periodic state. From the result of the experiments, the walking stability of the passive robot is improved over a larger range of walking status values compared with the condition without external force control, and the use of this method reduces the complicated work of solving the fixed point. These findings possibly have reference value in passive walking stabilization control. Meanwhile, the simulation results obtained by designing and studying the minimum controlled walking model show that human walking is based on the uncontrolled mechanical process. The exploration of the mechanism of passive gait can provide some enlightenment to the research of human texture and the application of exoskeleton.

Clamping Force Control of Electromechanical Brake Actuator Considering Contact Point between Friction Lining and Brake Disc

Currently, most electromechanical brake (EMB) schemes are only suitable for passenger cars, and their maximum clamping force is insufficient to satisfy the braking demands of commercial vehicles. Additionally, previous studies on clamping force control are largely based on an EMB equipped with sensors. Due to constraints in installation space and cost, sensorless EMBs are gradually gaining attention. Furthermore, accurately identifying the contact point between the friction lining and the brake disc is the promise of clamping force control for sensorless EMBs. Hence, a sensorless EMB scheme suitable for commercial vehicles is proposed in this study. Secondly, a dynamics model of the EMB actuator is established. After a comprehensive analysis of the proposed EMB actuator, a clamping force control strategy considering the contact points between the friction lining and the brake disc is proposed. Finally, simulation analyses of the strategy are carried out. The results show that the axial length of the proposed EMB actuator is shortened by 17.6% compared with a mainstream pneumatic disc brake. Furthermore, the proposed method can accurately identify the contact points between the friction lining and the brake disc, and the proposed control strategy enables the EMB actuator to achieve the fast response, accurate tracking, and stable maintenance of the target clamping force.

Electrohydraulic musculoskeletal robotic leg for agile, adaptive, yet energy-efficient locomotion

Robotic locomotion in unstructured terrain demands an agile, adaptive, and energy-efficient architecture. To traverse such terrains, legged robots use rigid electromagnetic motors and sensorized drivetrains to adapt to the environment actively. These systems struggle to compete with animals that excel through their agile and effortless motion in natural environments. We propose a bio-inspired musculoskeletal leg architecture driven by antagonistic pairs of electrohydraulic artificial muscles. Our leg is mounted on a boom arm and can adaptively hop on varying terrain in an energy-efficient yet agile manner. It can also detect obstacles through capacitive self-sensing. The leg performs powerful and agile gait motions beyond 5 Hz and high jumps up to 40 % of the leg height. Our leg’s tunable stiffness and inherent adaptability allow it to hop over grass, sand, gravel, pebbles, and large rocks using only open-loop force control. The electrohydraulic leg features a low cost of transport (0.73), and while squatting, it consumes only a fraction of the energy (1.2 %) compared to its conventional electromagnetic counterpart. Its agile, adaptive, and energy-efficient properties would open a roadmap toward a new class of musculoskeletal robots for versatile locomotion and operation in unstructured natural environments.

A Method for Optimizing Terminal Sliding Mode Controller Parameters Based on a Multi-Strategy Improved Crayfish Algorithm

This paper proposes a parameter optimization method for a terminal sliding mode controller (TSMC) based on a multi-strategy improved crayfish algorithm (JLSCOA) to enhance the performance of ship dynamic positioning systems. The TSMC is designed for the “Xinhongzhuan” vessel of Dalian Maritime University. JLSCOA integrates subtractive averaging, Levy Flight, and sparrow search strategies to overcome the limitations of traditional crayfish algorithms. Compared to COA, WOA, and SSA algorithms, JLSCOA demonstrates superior optimization accuracy, convergence performance, and stability across 12 benchmark test functions. It achieves the optimal value in 83% of cases, outperforms the average in 83% of cases, and exhibits stronger robustness in 75% of cases. Simulations show that applying JLSCOA to TSMC parameter optimization significantly outperforms traditional non-optimized controllers, reducing the average time for three degrees of freedom position changes by over 300 s and nearly eliminating control force and velocity oscillations.

Reliability-based robust control strategy via LMI approach for TMDs and ATMDs with uncertain parameters

This paper presents an integrated reliability-based H∞ robust control. This method consists of the H∞ control method and the Hasofer-Lind and Rackwitz-Fiessler (HL-RF) strategy. In this respect, the uncertainties in the system should be taken into account by using the random variables, which may arise due to various factors Such as the absence of understanding of the properties of materials, mistakes in design, etc. Also, considering the uncertainties in the system is important because it may cause wide changes in the responses of a system. For this reason, the reliability method must be carefully examined. To reduce the responses of the structure, TMDs and ATMDs are used. The parameters of the dampers (mass, stiffness, damping) are considered with uncertainty. An iterative HL-RF algorithm is used for structure equipped with TMDs to deal with uncertainties. To find the appropriate control force of TAMDs, the combination of the H∞ control strategy based on the linear matrix inequality utilized and the HL-RF method algorithm is expressed. Two types of dampers are vertically distributed on the different floors to increase the reliability of the structure under earthquake excitations. The proposed strategy indicated that the system's responses have been provided greater value by considering the uncertainty that shows the importance of this issue. According to the obtained values, the presented algorithm has performed well. Also, the proper reliability index is acquired by using the HL-RF method.

Characterizing Mechanical Changes in the Biceps Brachii Muscle in Mild Facioscapulohumeral Muscular Dystrophy Using Shear Wave Elastography.

There is no general consensus on evaluating disease progression in facioscapulohumeral muscular dystrophy (FSHD). Recently, shear wave elastography (SWE) has been proposed as a noninvasive diagnostic tool to assess muscle stiffness in vivo. Therefore, this study aimed to characterize biceps brachii (BB) muscle mechanics in mild-FSHD patients using SWE. Eight patients with mild FSHD, the BB were assessed using SWE, surface electromyography (sEMG), elbow moment measurements during rest, maximum voluntary contraction (MVC), and isometric ramp contractions at 25%, 50%, and 75% MVC across five elbow positions (60°, 90°, 120°, 150°, and 180° flexion). The mean absolute percentage deviation (MAPD) was analyzed as a measure of force control during ramp contractions. The shear elastic modulus of the BB in FSHD patients increased from flexed to extended elbow positions (e.g., p < 0.001 at 25% MVC) and with increasing contraction intensity (e.g., p < 0.001 at 60°). MAPD was highly variable, indicating significant deviation from target values during ramp contractions. SWE in mild FSHD is influenced by contraction level and joint angle, similar to findings of previous studies in healthy subjects. Moreover, altered force control could relate to the subjective muscle weakness reported by patients with dystrophies.

Grasp context-dependent uncertainty alters the relative contribution of anticipatory and feedback-based mechanisms in object manipulation

Predictive control within dexterous object manipulation while allowing for the choice of contact points has been shown to employ a predominantly feedback-based force modulation. The anticipation is thought to be facilitated through the internal representation of the object dynamics being integrated and updated on a trial-to-trial basis with the feedback of contact locations on the object. This is as opposed to the classically studied memory representation-based fingertip force control for grasping with pre-selected contact locations. We designed a study to examine this grasp context-dependent asymmetry in sensorimotor integration by introducing binary uncertainty about the grasp type before movement initiation within the framework of motor planning. An inverted T-shaped instrumented object was presented to 24 participants as the manipulandum, and they were asked to reach, grasp, and lift it while minimising the peak roll. We dissociated the planning and the execution phases by pseudo-randomly manipulating the availability of visual contact cues on the object after movement onset. We analysed both derived as well as direct kinetic and kinematic measures of the grasp during the loading phase to understand the anticipatory coordination. Our findings suggest that uncertainty about the grasp context during movement preparation resulted in a shift towards feedback-based mechanisms for grasp force modulation despite the persistence of visual cues.

A numerical study on locomotive wheel wear on curved track subjected to adhesion control

The wheel wear of heavy-duty locomotives is more complicated than that of other vehicles when it affects tractive force and adhesion control. The purpose of this article is to calculate wheel wear on a curved track using a co-simulation dynamic model of a heavy-duty locomotive with adhesion control. Additionally, the effect of creep threshold, decline slope, curve radius, and passing speed on wheel wear is further investigated. The findings demonstrate that wheel wear can be successfully decreased by adjusting the creep threshold and decline slope of adhesion control parameters. The wheel-rail stick-slip vibration behavior on the curve track can be eliminated by increasing the curve’s radius and passing speed, but the vertical wear at the left wheel’s flange will rise sharply with the increase of passing speed on right hand curve.

Forced oscillation control with a wearable reaction wheel to assist human periodic arm swing

Rehabilitation for stroke patients includes periodic arm exercises, but these require assistance by caregivers at the start of the exercise, which is a burden for caregivers. In this study, we have developed a system with three reaction wheel mechanisms, which can generate not only moments in each direction but also a larger moment than the output of a single axis by interlocking the axes. In addition, by using forced oscillation control, it is possible to assist the movement of the wearer's periodic arm swing even if the weight and output moment of the reaction wheel is not large. Although a large torque of 2.65 Nm is required for the system to swing the arm, it was confirmed that the developed device can be used to increase the amplitude of arm oscillation and achieve an oscillation frequency equivalent to that of a human arm swing, even with a single reaction wheel exerting a torque of 0.4 Nm.

Time-delay feedback control of nonlinear forced vibration of graphene/piezoelectric sandwich nanoplates under a mechanical shock

In this study, the nonlinear forced vibration of graphene/piezoelectric sandwich nanosheets under mechanical impact was investigated. For the first time, linear (displacement and velocity) and nonlinear (displacement) time-delay proportional derivative (PD) controllers were applied to graphene/piezoelectric sandwich nanosheets, and the primary/secondary resonance under different time-delay parameters were analyzed. An approximate analytical solution for the nonlinear forced vibration control equation was obtained using the multiple scale perturbation method, and the stability of graphene/piezoelectric sandwich nanosheets under primary/secondary resonance conditions was discussed using the Ross Herwitz theorem. Finally, the results of this study were compared with those of other studies. The feasibility of the research methodology was demonstrated. On this basis, the research results indicate that linear displacement delay, nonlinear displacement delay, and velocity delay parameters can suppress the unsteady vibration characteristics of the main system. And comparing the linear and nonlinear displacement time-delay, it is found that the nonlinear displacement time-delay has a greater effect on the system. Specifically, the presence of nonlinear displacement time-delay changes the vibration characteristics of the curve from hard spring characteristics to soft spring characteristics. Comparison of displacement time-delay and velocity time-delay reveals that velocity time-delay gives better control over the system. In addition, the results show that the excitation amplitude, nonlocal parameters, and external voltage enhance the nonlinear characteristics of the system under the main and superharmonic resonance conditions before the time-delay control. Subharmonic resonance conditions, the system parameters make the vibration range wider. After the time-delay control, the influence of these three factors on the system vibration is significantly reduced for the three resonance conditions, especially for the non-local parameters. The results of the study can provide guidance for active control of time delay in different types of nanodevices for engineering applications.