An adaptive hybrid force/motion control design for robot manipulators interacting in constrained motion with unknown non-rigid environments

Jafari, Aghil; Ryu, Jee-Hwan; Rezaei, Mehdi; Monfaredi, Reza; Talebi, Ali; Ghidary, Saeed

Abstract

In the present paper, the objective of hybrid control is specified and an adaptive hybrid force/motion control approach is proposed. Based on the concept of hybrid control, the task space is decomposed into position and force controlled subspaces. An adaptive scheme is presented which makes the controller robust when the robot is in interaction with an unknown non-rigid environment. By using the classical Lyapunov method, it is demonstrated that the proposed control law ensures the tracking of the unconstrained components of the desired end-effector trajectories, with regulation of the desired contact force along the constrained direction. Simulation results verify the effectiveness of our prosperous adaptive hybrid control in robot-environment interaction.

• Presentation Conference Type: Conference Paper (unpublished)
• Conference Name: IEEE ISR 2013
• Acceptance Date: Oct 24, 2013
• Publication Date: Oct 26, 2013
• Deposit Date: Sep 1, 2017
• Publicly Available Date: Sep 1, 2017
• Peer Reviewed: Peer Reviewed
• Pages: 1-5
• Keywords: lyapunov methods, adaptive control, control system synthesis, force control, manipulators, motion control, adaptive hybrid control, adaptive hybrid force-motion control design, adaptive scheme, classical Lyapunov method, constrained motion, end effector trajectories, force controlled subspaces, robot environment interaction, robot manipulators interaction, unknown nonrigid environments, educational institutions, force, robot kinematics,robustness, symmetric matrices, vectors, adaptive control, hybrid control, robot-environment interaction, robust control
• Public URL: https://uwe-repository.worktribe.com/output/926720
• Publisher URL: http;//dx.doi.org/10.1109/ISR.2013.6695632
• Additional Information: Title of Conference or Conference Proceedings : 2013 44th International Symposium on Robotics (ISR)
• Contract Date: Sep 1, 2017