Implicit Force Control of a Position Controlled Robot – A Comparison with Explicit Algorithms
This paper investigates simple implicit force control
algorithms realizable with industrial robots. A lot of approaches
already published are difficult to implement in commercial robot
controllers, because the access to the robot joint torques is necessary
or the complete dynamic model of the manipulator is used. In
the past we already deal with explicit force control of a position
controlled robot. Well known schemes of implicit force control are
stiffness control, damping control and impedance control. Using such
algorithms the contact force cannot be set directly. It is further
the result of controller impedance, environment impedance and
the commanded robot motion/position. The relationships of these
properties are worked out in this paper in detail for the chosen
implicit approaches. They have been adapted to be implementable
on a position controlled robot. The behaviors of stiffness control
and damping control are verified by practical experiments. For this
purpose a suitable test bed was configured. Using the full mechanical
impedance within the controller structure will not be practical in the
case when the robot is in physical contact with the environment. This
fact will be verified by simulation.
[1] G. Zeng and A. Hemami, “An overview of robot force control,”
Robotica, vol. 15, no. 5, pp. 473–482, 1997.
[2] M. Vukobratovi´c and A. Tuneski, “Contact control concepts in
manipulation robotics–an overview,” IEEE Transactions on Industrial
Electronics, vol. 41, no. 1, pp. 12–24, 1994.
[3] R. Volpe and P. Khosla, “A theoretical and experimental investigation
of explicit force control strategies for manipulators,” IEEE Transactions
on Automatic Control, vol. 38, no. 11, pp. 1634–1650, 1993.[4] J. De Schutter and H. Van Brussels, “Compliant robot motion I. A
formalism for specifying compliant motion tasks,” International Journal
of Robotics Research, vol. 7, no. 4, pp. 3–17, 1988.
[5] E. D´egoulange and P. Dauchez, “External force control of an industrial
PUMA 560 robot,” Journal of Robotic Systems, vol. 11, no. 6, pp.
523–540, 1994.
[6] A.Winkler and J. Such´y, “Position feedback in force control of industrial
manipulators – an experimental comparison with basic algorithms,” in
IEEE International Symposium on Robotic and Sensors Environments,
2012, pp. 31–36.
[7] ——, “Force controlled contour following on unknown objects with
an industrial robot,” in IEEE International Symposium on Robotic and
Sensors Environments, 2013, pp. 208–213.
[8] ——, “Force controlled contour following by an industrial robot on
unknown objects with tool orientation control,” in Proc. of Joint
Conference on Robotics – 45th International Symposium on Robotics
and 8th German Conference on Robotics, 2014.
[9] J. J. Craig, Introduction to Robotics Mechanics and Control. Pearson
Prentice Hall, 2005.
[10] T. A. Lasky and T. C. Hsia, “Force control of robotic manipulators,”
in Applied Control, S. G. S. G. Tzafesta, Ed. Marcel Decker, 1993,
ch. 22, pp. 639–661.
[11] A. A. Goldenberg, “Implementation of force and impedance control
in robot manipulators,” in Proc. of IEEE International Conference on
Robotics and Automation, vol. 3, 1988, pp. 1626–1632.
[12] C. Natale, B. Siciliano, and L. Villani, “Robust hybrid force/position
control with experiments on an industrial robot,” in Proc. of
the IEEE/ASME International Conference on Advanced Intelligent
Mechatronics, 1999, pp. 956–960.
[13] N. Hogan, “Impedance control, an approach to manipulation: Part i, ii,
iii,” ASME Journal of Dynamic Systems, Measurement and Control, vol.
107, pp. 1–24, 1985.
[14] J. K. Salisbury, “Active stiffness control of a manipulator in cartesian
coordinates,” in Proceedings of the IEEE International Conference on
Decision and Control, vol. 19, 1980, pp. 95–100.
[15] D. E. Whitney, “Historical perspective and state of the art in robot force
control,” International Journal of Robotics Research, vol. 6, no. 1, pp.
3–14, 1987.
[16] ——, “Force feedback control of manipulator fine motions,” Journal of
Dynamic Systems, Measurement and Control, vol. 99, no. 2, pp. 91–97,
1977.
[17] KUKA Roboter GmbH, KUKA.RobotSensorInterface (RSI) 2.1, 2007.
[18] A. Winkler and J. Such´y, “An approach to compliant motion of
an industrial manipulator,” in Proc. of the 8th International IFAC
Symposium on Robot Control, 2006.
[19] ——, “Possibilities of force based interaction with robot manipulators,”
in Human-Robot-Interaction, N. Sarkar, Ed. I-Tech Education and
Publishing, 2007, pp. 445–468.
[20] N. Hogan and S. P. Buerger, “Impedance and interaction control,” in
Robotics and Automation Handbook, T. R. Kurfess, Ed. CRC Press,
2004, ch. 19.
[1] G. Zeng and A. Hemami, “An overview of robot force control,”
Robotica, vol. 15, no. 5, pp. 473–482, 1997.
[2] M. Vukobratovi´c and A. Tuneski, “Contact control concepts in
manipulation robotics–an overview,” IEEE Transactions on Industrial
Electronics, vol. 41, no. 1, pp. 12–24, 1994.
[3] R. Volpe and P. Khosla, “A theoretical and experimental investigation
of explicit force control strategies for manipulators,” IEEE Transactions
on Automatic Control, vol. 38, no. 11, pp. 1634–1650, 1993.[4] J. De Schutter and H. Van Brussels, “Compliant robot motion I. A
formalism for specifying compliant motion tasks,” International Journal
of Robotics Research, vol. 7, no. 4, pp. 3–17, 1988.
[5] E. D´egoulange and P. Dauchez, “External force control of an industrial
PUMA 560 robot,” Journal of Robotic Systems, vol. 11, no. 6, pp.
523–540, 1994.
[6] A.Winkler and J. Such´y, “Position feedback in force control of industrial
manipulators – an experimental comparison with basic algorithms,” in
IEEE International Symposium on Robotic and Sensors Environments,
2012, pp. 31–36.
[7] ——, “Force controlled contour following on unknown objects with
an industrial robot,” in IEEE International Symposium on Robotic and
Sensors Environments, 2013, pp. 208–213.
[8] ——, “Force controlled contour following by an industrial robot on
unknown objects with tool orientation control,” in Proc. of Joint
Conference on Robotics – 45th International Symposium on Robotics
and 8th German Conference on Robotics, 2014.
[9] J. J. Craig, Introduction to Robotics Mechanics and Control. Pearson
Prentice Hall, 2005.
[10] T. A. Lasky and T. C. Hsia, “Force control of robotic manipulators,”
in Applied Control, S. G. S. G. Tzafesta, Ed. Marcel Decker, 1993,
ch. 22, pp. 639–661.
[11] A. A. Goldenberg, “Implementation of force and impedance control
in robot manipulators,” in Proc. of IEEE International Conference on
Robotics and Automation, vol. 3, 1988, pp. 1626–1632.
[12] C. Natale, B. Siciliano, and L. Villani, “Robust hybrid force/position
control with experiments on an industrial robot,” in Proc. of
the IEEE/ASME International Conference on Advanced Intelligent
Mechatronics, 1999, pp. 956–960.
[13] N. Hogan, “Impedance control, an approach to manipulation: Part i, ii,
iii,” ASME Journal of Dynamic Systems, Measurement and Control, vol.
107, pp. 1–24, 1985.
[14] J. K. Salisbury, “Active stiffness control of a manipulator in cartesian
coordinates,” in Proceedings of the IEEE International Conference on
Decision and Control, vol. 19, 1980, pp. 95–100.
[15] D. E. Whitney, “Historical perspective and state of the art in robot force
control,” International Journal of Robotics Research, vol. 6, no. 1, pp.
3–14, 1987.
[16] ——, “Force feedback control of manipulator fine motions,” Journal of
Dynamic Systems, Measurement and Control, vol. 99, no. 2, pp. 91–97,
1977.
[17] KUKA Roboter GmbH, KUKA.RobotSensorInterface (RSI) 2.1, 2007.
[18] A. Winkler and J. Such´y, “An approach to compliant motion of
an industrial manipulator,” in Proc. of the 8th International IFAC
Symposium on Robot Control, 2006.
[19] ——, “Possibilities of force based interaction with robot manipulators,”
in Human-Robot-Interaction, N. Sarkar, Ed. I-Tech Education and
Publishing, 2007, pp. 445–468.
[20] N. Hogan and S. P. Buerger, “Impedance and interaction control,” in
Robotics and Automation Handbook, T. R. Kurfess, Ed. CRC Press,
2004, ch. 19.
@article{"International Journal of Information, Control and Computer Sciences:70092", author = "Alexander Winkler and Jozef Suchý", title = "Implicit Force Control of a Position Controlled Robot – A Comparison with Explicit Algorithms", abstract = "This paper investigates simple implicit force control
algorithms realizable with industrial robots. A lot of approaches
already published are difficult to implement in commercial robot
controllers, because the access to the robot joint torques is necessary
or the complete dynamic model of the manipulator is used. In
the past we already deal with explicit force control of a position
controlled robot. Well known schemes of implicit force control are
stiffness control, damping control and impedance control. Using such
algorithms the contact force cannot be set directly. It is further
the result of controller impedance, environment impedance and
the commanded robot motion/position. The relationships of these
properties are worked out in this paper in detail for the chosen
implicit approaches. They have been adapted to be implementable
on a position controlled robot. The behaviors of stiffness control
and damping control are verified by practical experiments. For this
purpose a suitable test bed was configured. Using the full mechanical
impedance within the controller structure will not be practical in the
case when the robot is in physical contact with the environment. This
fact will be verified by simulation.", keywords = "Damping control, impedance control, robot force
control, stability, stiffness control.", volume = "9", number = "6", pages = "1454-7", }
