A Family of Hyperbolic-Type Explicit Force Regulators with Active Velocity Damping for Robot Manipulators
This paper addresses the explicit force regulation problem for robot manipulators in interaction tasks. A new family of explicit force-control schemes is presented, which includes a term driven by a large class of saturated-type hyperbolic functions to handle the force error. Also, an active velocit...
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2018/9324623 |
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| author | Fernando Reyes-Cortés César Chávez-Olivares Emilio J. González-Galván |
| author_facet | Fernando Reyes-Cortés César Chávez-Olivares Emilio J. González-Galván |
| author_sort | Fernando Reyes-Cortés |
| collection | DOAJ |
| description | This paper addresses the explicit force regulation problem for robot manipulators in interaction tasks. A new family of explicit force-control schemes is presented, which includes a term driven by a large class of saturated-type hyperbolic functions to handle the force error. Also, an active velocity damping term with the purpose of obtaining energy dissipation on the contact surface is incorporated plus compensation for gravity. In order to ensure asymptotic stability of the closed-loop system equilibrium point in Cartesian space, we propose a strict Lyapunov function. A force sensor placed at the end-effector of the robot manipulator is used in order to feed back the measure of the force error in the closed-loop, and an experimental comparison of the performance L2-norm between 5 explicit force control schemes, which are the classical proportional-derivative (PD), arctangent, and square-root controls and two members of the proposed control family, on a two-degree-of-freedom, direct-drive robot manipulator, is presented. |
| format | Article |
| id | doaj-art-772e3f63dbef4f8d933dacccbeb5575d |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-772e3f63dbef4f8d933dacccbeb5575d2025-02-03T05:53:06ZengWileyJournal of Robotics1687-96001687-96192018-01-01201810.1155/2018/93246239324623A Family of Hyperbolic-Type Explicit Force Regulators with Active Velocity Damping for Robot ManipulatorsFernando Reyes-Cortés0César Chávez-Olivares1Emilio J. González-Galván2Facultad de Ciencias de la Electrónica, Benemérita Universidad Autónoma de Puebla, 72570 Puebla, PUE, MexicoDepartamento de Ingeniería Robótica, Universidad Autónoma de Aguascalientes, Campus Sur, Av. Prolongación Mahatma Gandhi No. 6601, 20340 Aguascalientes, AGS, MexicoFacultad de Ingeniería, Universidad Autónoma de San Luis Potosí, Av. Manuel Nava 8, Zona Universitaria, 78290 San Luis Potosí, SLP, MexicoThis paper addresses the explicit force regulation problem for robot manipulators in interaction tasks. A new family of explicit force-control schemes is presented, which includes a term driven by a large class of saturated-type hyperbolic functions to handle the force error. Also, an active velocity damping term with the purpose of obtaining energy dissipation on the contact surface is incorporated plus compensation for gravity. In order to ensure asymptotic stability of the closed-loop system equilibrium point in Cartesian space, we propose a strict Lyapunov function. A force sensor placed at the end-effector of the robot manipulator is used in order to feed back the measure of the force error in the closed-loop, and an experimental comparison of the performance L2-norm between 5 explicit force control schemes, which are the classical proportional-derivative (PD), arctangent, and square-root controls and two members of the proposed control family, on a two-degree-of-freedom, direct-drive robot manipulator, is presented.http://dx.doi.org/10.1155/2018/9324623 |
| spellingShingle | Fernando Reyes-Cortés César Chávez-Olivares Emilio J. González-Galván A Family of Hyperbolic-Type Explicit Force Regulators with Active Velocity Damping for Robot Manipulators Journal of Robotics |
| title | A Family of Hyperbolic-Type Explicit Force Regulators with Active Velocity Damping for Robot Manipulators |
| title_full | A Family of Hyperbolic-Type Explicit Force Regulators with Active Velocity Damping for Robot Manipulators |
| title_fullStr | A Family of Hyperbolic-Type Explicit Force Regulators with Active Velocity Damping for Robot Manipulators |
| title_full_unstemmed | A Family of Hyperbolic-Type Explicit Force Regulators with Active Velocity Damping for Robot Manipulators |
| title_short | A Family of Hyperbolic-Type Explicit Force Regulators with Active Velocity Damping for Robot Manipulators |
| title_sort | family of hyperbolic type explicit force regulators with active velocity damping for robot manipulators |
| url | http://dx.doi.org/10.1155/2018/9324623 |
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