Abstract
In various automated industrial, medical, or service applications using robotic systems it is required to regulate both robot movement and contact force. In order to address this control problem, this paper presents a force/position control structure that has two characteristics that are very relevant in robot-environment interaction tasks. First, the structure of the controller is based on the use of generalized saturation functions, and this makes it possible to ensure that the robot actuators operate within a safe region without exceeding their torque limits. On the other hand, an adaptable term is included within the structure that allows to compensate for parametric uncertainty related to gravitational forces and the stiffness of the environment on which the robot operates. The validity and correct performance of the proposed control structure is based on a rigorous stability analysis, as well as numerical simulations using a three-degree-of-freedom robot manipulator.
Article PDF
Similar content being viewed by others
Avoid common mistakes on your manuscript.
References
M. Roozegar, M. J. Mahjoob and M. Ayati, Adaptive tracking control of a nonholonomic pendulum-driven spherical robot by using a model-reference adaptive system, Journal of Mechanical Science and Technology, 32(2) (2018) 845–853.
H. Seo and S. Lee, Design of general-purpose assistive exoskeleton robot controller for upper limbs, Journal of Mechanical Science and Technology, 33(7) (2019) 3509–3519.
A. Pervez and J. Ryu, Safe physical human robot interaction-past, present and future, Journal of Mechanical Science and Technology, 22(3) (2008) 469–483.
B. Yao, Z. Zhou, L. Wang, W. Xu and Q. Liu, Sensor-less external force detection for industrial manipulators to facilitate physical human-robot interaction, Journal of Mechanical Science and Technology, 32(10) (2018) 4909–4923.
J. H. Kim, H. S. Yoon, H. Moon, H. R. Choi and J. C. Koo, Application of a sensor fusion algorithm for improving grasping stability, Journal of Mechanical Science and Technology, 29(7) (2015) 2693–2698.
E. Kilic, EMG based neural network and admittance control of an active wrist orthosis, Journal of Mechanical Science and Technology, 31(12) (2017) 6093–6106.
R. Arora and T. K. Bera, Impedance control of three dimensional hybrid manipulator, Journal of Mechanical Science and Technology, 34(1) (2020) 359–367.
A. Winkler and J. Suchý, Explicit and implicit force control of an industrial manipulator-an experimental summary, Proc. of the 21st IEEE International Conference on Methods and Models in Automation and Robotics, Miedzyzdroje, Poland (2016) 19–24.
A. Del Prete, F. Nori, G. Metta and L. Natale, Prioritized motion-force control of constrained fully-actuated robots: task space inverse dynamics, Robotics and Autonomous Systems, 63(1) (2015) 150–157.
M. E. Karar, A simulation study of adaptive force controller for medical robotic liver ultrasound guidance, Arabian Journal for Science and Engineering, 43(8) (2018) 4229–4238.
E. Arefinia, H. A. Talebi and A. Doustmohammadi, A robust adaptive model reference impedance control of a robotic manipulator with actuator saturation, IEEE Transactions on Systems, Man, and Cybernetics: Systems, 50(2) (2017) 409–420.
L. Roveda, F. Vicentini and L. M. Tosatti, Deformation-tracking impedance control in interaction with uncertain environments, Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan (2013) 1992–1997.
A. Azizi, Applications of artificial intelligence techniques to enhance sustainability of industry 4.0: design of an artificial neural network model as dynamic behavior optimizer of robotic arms, Complexity (2020) 1–10.
C. Chávez-Olivares, F. Reyes-Cortés and E. González-Galván, On explicit force regulation with active velocity damping for robot manipulators, Automatika, 56(4) (2015) 478–490.
A. Winkler and J. Suchý, Implicit force control of a position controlled robot-a comparison with explicit algorithms, International Journal of Computer and Information Engineering, 9(6) (2015) 1447–1453.
M. Rani and N. Kumar, A new hybrid position/force control scheme for coordinated multiple mobile manipulators, Arabian Journal for Science and Engineering, 44(3) (2019) 2399–2411.
A. Gutierrez-Giles, L. U. Evangelista-Hernandez, M. Arteaga, C. A. Cruz-Villar and A. Rodriguez-Angeles, A force/motion control approach based on trajectory planning for industrial robots with closed control architecture, IEEE Access, 9 (2021) 80728–80740.
D. Huang, H. Zhan and C. Yang, Impedance model-based optimal regulation on force and position of bimanual robots to hold an object, Complexity (2020) 1–13.
A. Zavala-Rio, M. Mendoza, V. Santibáñez and F. Reyes, Output-feedback proportional-integral-derivative-type control with multiple saturating structure for the global stabilization of robot manipulators with bounded inputs, International Journal of Advanced Robotic Systems, 13 (5) (2016).
D. J. López-Araujo, A. Zavala-Rio, V. Santibáñez and F. Reyes, A generalized global adaptive tracking control scheme for robot manipulators with bounded inputs, International Journal of Adaptive Control and Signal Processing, 29(2) (2015) 180–200.
G. I. Zamora-Gómez, A. Zavala-Río, D. J. López-Araujo, E. Nuño and E. Cruz-Zavala, Further advancements on the output-feedback global continuous control for the finite-time and exponential stabilisation of bounded-input mechanical systems: desired conservative-force compensation and experiments, International Journal of Control, 93(7) (2020) 1521–1533.
G. I. Zamora-Gómez, A. Zavala-Río, D. J. López-Araujo, E. Cruz-Zavala and E. Nuño, Continuous control for fully damped mechanical systems with input constraints: finite-time and exponential tracking, IEEE Transactions on Automatic Control, 65(2) (2019) 882–889.
M. Rodríguez-Liñán, M. Mendoza, I. Bonilla and C. Chávez-Olivares, Saturating stiffness control of robot manipulators with bounded inputs, International Journal of Applied Mathematics and Computer Science, 27(1) (2017) 79–90.
C. Vidrios-Serrano, M. Mendoza, I. Bonilla and B. Maldonado-Fregoso, A generalized vision-based stiffness controller for robot manipulators with bounded inputs, International Journal of Control, Automation and Systems, 19(1) (2021) 548–561.
J. Pliego-Jiménez, M. Arteaga-Pérez and P. Sánchez-Sánchez, Dexterous robotic manipulation via a dynamic sliding mode force/position control with bounded inputs, IET Control Theory and Applications, 13(6) (2019) 832–840.
T. Ohhira, K. Yokota, S. Tatsumi and T. Murakami, A robust hybrid position/force control considering motor torque saturation, IEEE Access, 9 (2021) 34515–34528.
H. K. Khalil, Nonlinear Systems, 3rd Ed., Prentice Hall, Upper Saddle River, NJ, USA (2002).
R. Kelly, V. Santibáñez and J. A. Loría, Control of Robot Manipulators in Joint Space, Springer Science & Business Media, Leipzig, Germany (2006).
C. Canudas, B. Siciliano and G. Bastin (Eds), Theory of Robot Control, Springer Science and Business Media, London, UK (2012).
C. Chávez-Olivares, F. Reyes-Cortés, E. González-Galván, M. Mendoza and I. Bonilla, Experimental evaluation of parameter identification schemes on an anthropomorphic direct drive robot, International Journal of Advanced Robotic Systems, 9 (5) (2012).
Acknowledgments
This work was supported by the National Council for Science and Technology (grant 2018-000012-01NACF-11014), Mexico, and the Autonomous University of Aguascalientes (PII19-2).
Author information
Authors and Affiliations
Corresponding author
Additional information
Lina Rojas-García received the B.E. degree in electronics engineering from the Technology Institute of San Luis Potosi, Mexico, in 2006, the M.Eng. degree in electrical engineering from the Autonomous University of San Luis Potosi, Mexico, in 2012. She is currently pursuing a Ph.D. degree in engineering sciences at the Autonomous University of San Luis Potosi, Mexico. Her current research interests include prosthetic robot control.
Isela Bonilla-Gutiérrez received the B.E. degree in communications and electronics from the University of Colima, Mexico, in 2003, the M.Sc. degree in electronics from the Autonomous University of Puebla, Mexico, in 2006, and the Ph.D. degree in electrical engineering from the Autonomous University of San Luis Potosi, in 2011. She is currently Full Professor of electronics at the Faculty of Science, Autonomous University of San Luis Potosi, Mexico. Her research interests include robot control and rehabilitation robotics.
Marco Mendoza-Gutiérrez received the B.E. degree in communications and electronics from the University of Colima, Mexico, in 2003, the M.Sc. degree in electronics from the Autonomous University of Puebla, Mexico, in 2006, and the Ph.D. degree in electrical engineering from the Autonomous University of San Luis Potosi, Mexico, in 2011. He is currently Full Professor of biomedical engineering at the Faculty of Science, Autonomous University of San Luis Potosi, Mexico. His research interests include robot control and biorobotics.
César Chávez-Olivares received the B.E. degree in electronics engineering from the Autonomous University of Aguascalientes, Mexico, in 2006, and the MEng and Ph.D. degrees in electrical engineering from the Autonomous University of San Luis Potosi, Mexico, in 2009 and 2014, respectively. He joined the Center of Engineering Sciences at the Autonomous University of Aguascalientes, in 2015, where he is currently professor of robotics engineering. His research interests include biorobotics, haptic devices, identification and control of robot manipulators.
Rights and permissions
About this article
Cite this article
Rojas-García, L., Bonilla-Gutiérrez, I., Mendoza-Gutiérrez, M. et al. Adaptive force/position control of robot manipulators with bounded inputs. J Mech Sci Technol 36, 1497–1509 (2022). https://doi.org/10.1007/s12206-022-0236-1
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12206-022-0236-1