On Force Control for Robot Manipulators in Contact with Uneven Planar Surfaces

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

1 Citation (Scopus)

Abstract

This paper studies a robot manipulator in contact with an uneven planar surface. The robot contact-task is to exert a desired force on normal direction to the surface while a desired reference is tracked along the surface. The uneven characteristic of the surface is modeled with ramp disturbances in the position, on normal direction to the surface. The magnitude of the ramp is proportional to the speed of the trajectory along the surface. Also, uncertainty in the stiffness is analyzed. Considering delays and filters commonly found in practical applications, a force control system based on admittance is analyzed. Disturbance rejection in terms of steady-state error is considered, and a tuning method for disturbance attenuation is developed. Furthermore, the relative stability of the system is studied giving a metric of how much uncertainty in the stiffness the control system can handle. The analysis and methods are verified by simulations.
Original languageEnglish
Title of host publication18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA 2022)
PublisherIEEE Institute of Electrical and Electronic Engineers
Number of pages6
ISBN (Electronic)978-1-6654-5570-1
ISBN (Print)978-1-6654-5571-8
DOIs
Publication statusPublished - 2023
MoE publication typeA4 Article in a conference publication
Event18th International Conference on Mechatronic, Embedded Systems and Applications, IEEE/ASME MESA 2022 : Hybrid Event - National Taiwan University of Science and Technology International Building 202, Taipei, Taiwan, Province of China
Duration: 28 Nov 202230 Nov 2022

Conference

Conference18th International Conference on Mechatronic, Embedded Systems and Applications, IEEE/ASME MESA 2022
Country/TerritoryTaiwan, Province of China
CityTaipei
Period28/11/2230/11/22

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