Author:
Liu Chengguo,He Ye,Chen Xiaoan,Cao Hongli
Abstract
Purpose
As more and more robots are used in industry, it is necessary for robots to interact with high dynamic environments. For this reason, the purpose of this research is to form an excellent force controller by considering the transient contact force response, overshoot and steady-state force-tracking accuracy.
Design/methodology/approach
Combining the active disturbance rejection control (ADRC) and the adaptive fuzzy PD controller, an enhanced admittance force-tracking controller framework and a well-designed control scheme are proposed. Tracking differentiator balances the contradiction between inertia and jump control signal of the control object. Kalman filter and extended state observer are introduced to obtain purer feedback force signal and uncertainty compensation. Adaptive fuzzy PD controller is introduced to account for transient and steady state performance of the system.
Findings
The proposed controller has achieved successful results through simulation and actual test of 6-axis robot with minimum error.
Practical implications
The controller is simple and practical in real industrial scenarios, where force control by robots is required.
Originality/value
In this research, a new practical force control algorithm is proposed to guarantee the performance of the force controller for robots interacting with high dynamic environments.
Subject
Industrial and Manufacturing Engineering,Computer Science Applications,Control and Systems Engineering
Reference29 articles.
1. Development of an autonomous robotic system for beard shaving assistance of disabled people based on an adaptive force tracking impedance control,2021
2. Hybrid force tracking impedance Control-Based autonomous robotic system for tooth brushing assistance of disabled people;IEEE Transactions on Medical Robotics and Bionics,2020
3. Performing predefined tasks using the human–robot interaction on speech recognition for an industrial robot;Engineering Applications of Artificial Intelligence,2020
4. Practical application of a safe human-robot interaction software;Industrial Robot: The International Journal of Robotics Research and Application,2020
5. Robust control of a robot arm using an optimized PID controller,2017
Cited by
3 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献