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

Antonio Rosales; Tapio Heikkila

doi:10.1109/MESA55290.2022.10004391

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

^*Corresponding author for this work

BA5602 Intelligent robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-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 language	English
Title of host publication	18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA 2022)
Publisher	IEEE Institute of Electrical and Electronic Engineers
Number of pages	6
ISBN (Electronic)	978-1-6654-5570-1
ISBN (Print)	978-1-6654-5571-8
DOIs	https://doi.org/10.1109/MESA55290.2022.10004391
Publication status	Published - 2023
MoE publication type	A4 Article in a conference publication
Event	18th 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 2022 → 30 Nov 2022

Conference

Conference	18th International Conference on Mechatronic, Embedded Systems and Applications, IEEE/ASME MESA 2022
Country/Territory	Taiwan, Province of China
City	Taipei
Period	28/11/22 → 30/11/22

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This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1109/MESA55290.2022.10004391

Cite this

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title = "On Force Control for Robot Manipulators in Contact with Uneven Planar Surfaces",

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.",

author = "Antonio Rosales and Tapio Heikkila",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 18th International Conference on Mechatronic, Embedded Systems and Applications, IEEE/ASME MESA 2022 : Hybrid Event ; Conference date: 28-11-2022 Through 30-11-2022",

year = "2023",

doi = "10.1109/MESA55290.2022.10004391",

language = "English",

isbn = "978-1-6654-5571-8",

booktitle = "18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA 2022)",

publisher = "IEEE Institute of Electrical and Electronic Engineers",

address = "United States",

}

Rosales, A & Heikkila, T 2023, On Force Control for Robot Manipulators in Contact with Uneven Planar Surfaces. in 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA 2022). IEEE Institute of Electrical and Electronic Engineers, 18th International Conference on Mechatronic, Embedded Systems and Applications, IEEE/ASME MESA 2022 , Taipei, Taiwan, Province of China, 28/11/22. https://doi.org/10.1109/MESA55290.2022.10004391

On Force Control for Robot Manipulators in Contact with Uneven Planar Surfaces. / Rosales, Antonio ; Heikkila, Tapio.
18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA 2022). IEEE Institute of Electrical and Electronic Engineers, 2023.

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

TY - GEN

T1 - On Force Control for Robot Manipulators in Contact with Uneven Planar Surfaces

AU - Rosales, Antonio

AU - Heikkila, Tapio

PY - 2023

Y1 - 2023

N2 - 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.

AB - 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.

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DO - 10.1109/MESA55290.2022.10004391

M3 - Conference article in proceedings

AN - SCOPUS:85146844524

SN - 978-1-6654-5571-8

BT - 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA 2022)

PB - IEEE Institute of Electrical and Electronic Engineers

T2 - 18th International Conference on Mechatronic, Embedded Systems and Applications, IEEE/ASME MESA 2022

Y2 - 28 November 2022 through 30 November 2022

ER -

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

Abstract

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CCM: Cognitive Collaborative Manufacturing

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

Abstract

Conference

UN SDGs

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Projects

CCM: Cognitive Collaborative Manufacturing

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