A Family of Hyperbolic-Type Explicit Force Regulators with Active Velocity Damping for Robot Manipulators. (16th April 2018)

• Record Type: Journal Article
• Authors: Reyes-Cortés, Fernando; Chávez-Olivares, César; González-Galván, Emilio J.
• Other Names: Fortuna L. Academic Editor.
• Is Part Of: Journal of robotics. Volume 2018(2018)
• Publication Date: 2018-04-16
• Subjects: Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1155/2018/9324623
• Languages: English
• ISSNs: 1687-9600

Abstract

Abstract : 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 performanceL 2 -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.