A force/position controller free of velocity measurement for robot manipulators with bounded torque input

• Autorzy: Chávez-Olivares César A. , Mendoza-Gutiérrez Marco O. , Bonilla-Gutiérrez Isela , González-Galván Emilio J.

Identyfikatory

DOI

10.24425/acs.2024.149667

• Języki publikacji: EN

Abstrakty

EN

Robot manipulators play a crucial role in various industrial and research settings, requiring precise and controlled interactions with their surroundings. Achieving this goal with fewer sensors offers advantages not only in terms of cost and decreased risk of failure but also enhances accuracy and long-term reliability. In this paper, we introduce a nonlinear force/position controller that eliminates the requirement for velocity measurements. This controller provides versatility by facilitating the generation of bounded control actions during robot-environment interactions, ensuring a higher level of safety for both the robot and its environment during the execution of tasks necessitating physical contact between them. The proposed approach is underpinned by a stability analysis in the Lyapunov sense and has been validated through a series of simulation and experimental tests.

Słowa kluczowe

EN

force control; position control; Lyapunov stability; robot manipulator; saturation function

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2024
• Tom: Vol. 34, No. 2
• Strony: 437--468
• Opis fizyczny: Bibliogr. 44 poz., rys., tab., wzory

Twórcy

autor

Chávez-Olivares César A.

• Robotics Engineering Department, Autonomous University of Aguascalientes, Prol. Mahatma Gandhi 6601, Aguascalientes, 20340, Aguascalientes, Mexico

• https://orcid.org/0000-0002-9576-1667

autor

Mendoza-Gutiérrez Marco O.

• Faculty of Sciences, Autonomous University of San Luis Potosi, Av. Chapultepec 1570, Privadas del Pedregal, San Luis Potosi, 78295, San Luis Potosi, Mexico

• https://orcid.org/0000-0001-5013-4945

autor

Bonilla-Gutiérrez Isela

• Faculty of Sciences, Autonomous University of San Luis Potosi, Av. Chapultepec 1570, Privadas del Pedregal, San Luis Potosi, 78295, San Luis Potosi, Mexico

• https://orcid.org/0000-0003-0875-108X

autor

González-Galván Emilio J.

• Faculty of Engineering, Autonomous University of San Luis Potosi,Dr. Manuel Nava 8, Zona Universitaria Poniente, San Luis Potosi, 78290, San Luis Potosi, Mexico

• https://orcid.org/0000-0002-5682-0070

Bibliografia

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