Technical Briefs

Velocity and Force Observers for the Control of Robot Manipulators

[+] Author and Article Information
Marco A. Arteaga–Pérez

e-mail: marteagp@unam.mx

Juan C. Rivera–Dueñas

e-mail: juancarlo.rivera@yahoo.com.mx

Alejandro Gutiérrez–Giles

e-mail: alejandrogilesg@yahoo.com.mx
Departamento de Control y Robótica,
DIE. Facultad de Ingeniería,
Universidad Nacional Autónoma de México,
México, D. F. 04510, México

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received January 18, 2012; final manuscript received June 12, 2013; published online August 23, 2013. Assoc. Editor: Nariman Sepehri.

J. Dyn. Sys., Meas., Control 135(6), 064502 (Aug 23, 2013) (7 pages) Paper No: DS-12-1019; doi: 10.1115/1.4024995 History: Received January 18, 2012; Revised June 12, 2013

In this paper, position/force tracking control for rigid robot manipulators interacting with its environment is considered. It is assumed that only joint angles are available for feedback, so that velocity and force observers are designed. The principle of orthogonalization is employed for this particular purpose and some of its main properties are fully exploited to guarantee local asymptotical stability. Only the force observer requires the dynamic model of the robot manipulator for implementation, and the scheme is developed directly in workspace coordinates, so that no inverse kinematics is required. The proposed approach is tested experimentally and compared with a well–known algorithm.

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Grahic Jump Location
Fig. 1

Tracking errors: Δ x: (a) x, (b) y, (c) z, (d) φx, (e) φy, (f) φz. Proposed scheme (—-) and algorithms in Refs. [7,9] (— · —).

Grahic Jump Location
Fig. 2

Observation errors: (a) x, (b) y, (c) z, (d) φx, (e) φy, (f) φz. Proposed scheme (—-) and algorithm in Ref. [9] (— · —).

Grahic Jump Location
Fig. 3

Force control and estimation: real (—-), desired (- - -), and estimated (— · —); (a) proposed scheme; (b) algorithms in Refs. [7,9]

Grahic Jump Location
Fig. 4

Fact 2.1: ‖Δx‖ (– · –), ‖QxΔx‖ (—–), and ‖PxΔx‖ (- - -)



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