Izvorni znanstveni članak
https://doi.org/10.7305/automatika.2016.01.399
On explicit force regulation with active velocity damping for robot manipulators
César Alejandro Chávez-Olivares
orcid.org/0000-0002-9576-1667
; Departamento de Ingeniería de Metal-Mecánica, Instituto Tecnológico de Aguascalientes, Av. Adolfo López Mateos 1801 Oriente, Fracc. Bona Gens, Aguascalientes, Ags. 20256 México
Fernando Reyes-Cortes
; Grupo de Robótica, Facultad de Ciencias de la Electrónica, Benemérita Universidad Autónoma de Puebla, 18 Sur y Av. San Claudio, Ciudad Universitaria, Puebla, Pue., 75570 México
Emilio Jorge González-Galván
orcid.org/0000-0002-5682-0070
; Centro de Investigación y Estudios de Posgrado, Facultad de Ingenieréa, Universidad Autónoma de San Luis Potosí, Av. Manuel Nava 8, Zona Universitaria, San Luis Potosí, S.L.P. 78290 México
Sažetak
This paper presents a new interaction control structure that generates a family of explicit force regulators for robot manipulators. The proposed structure includes a term of a class of proportional-type functions in terms of force error; the force error is defined as the difference between a desired force and the actual force measured with a force sensor located at the end-effector. Also, the structure includes a generalized active velocity damping term in order to have a control of the energy dissipation, and a term used to compensate the gravity forces of the links. The stability analysis is performed in Lyapunov sense. An experimental comparison of two new explicit force regulators and the linear proportional structure, on a three degree-of-freedom, direct-drive robot, is presented. Also, proofs of the most important properties of the Cartesian dynamic model, are presented.
Ključne riječi
Interaction control; Explicit force control; Direct-drive robot; Lyapunov stability; Cartesian robot control
Hrčak ID:
154037
URI
Datum izdavanja:
19.2.2016.
Posjeta: 1.597 *