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Research Papers

Robotic Time-Varying Force Tracking in Position-Based Impedance Control

[+] Author and Article Information
Wenkang Xu

Department of Automation,
Nanjing University of Science and Technology,
Nanjing 210094, China
e-mail: wkang_hsu@126.com

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received December 15, 2014; final manuscript received April 2, 2016; published online June 6, 2016. Assoc. Editor: Jwu-Sheng Hu.

J. Dyn. Sys., Meas., Control 138(9), 091008 (Jun 06, 2016) (12 pages) Paper No: DS-14-1533; doi: 10.1115/1.4033409 History: Received December 15, 2014; Revised April 02, 2016

This paper presents a unified control framework for both set-point and time-varying force control of robot manipulator by introducing an improved position-based impedance control (IPBIC). In order to essentially achieve accurate force control, especially time-varying force tracking, a new target impedance function compensated by a force controller is presented. The essence of the improved method in realizing time-varying force tracking, as well as the coupled stability of the manipulator–environment system is investigated. To further improve the force control performance, the Newton-type iterative learning control (ILC) is introduced upon the closed-loop system. A case study on a two-link robot model demonstrates the effectiveness of this method.

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Figures

Grahic Jump Location
Fig. 2

IPBIC diagram along a single degree-of-freedom

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Fig. 4

X-, Y-axis time-invariant force tracking with PBIC and IPBIC

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Fig. 5

Time-varying force tracking with PBIC along X- and Y-axis

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Fig. 6

Time-varying force tracking with IPBIC in X-axis

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Fig. 7

Time-varying force tracking with IPBIC in Y-axis

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Fig. 8

X-axis time-varying force tracking error

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Fig. 9

Joint space position control errors with Newton-type ILC

Grahic Jump Location
Fig. 10

Two-norm error of ILC-aided force tracking in X- and Y-axes

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Fig. 11

X-axis time-varying force tracking response over ten trials

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Fig. 12

Y-axis time-varying force tracking response over ten trials

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