- -

Force Control Improvement in Collaborative Robots through Theory Analysis and Experimental Endorsement

RiuNet: Repositorio Institucional de la Universidad Politécnica de Valencia

Compartir/Enviar a

Citas

Estadísticas

  • Estadisticas de Uso

Force Control Improvement in Collaborative Robots through Theory Analysis and Experimental Endorsement

Mostrar el registro completo del ítem

Pérez-Ubeda, R.; Zotovic Stanisic, R.; Gutiérrez, SC. (2020). Force Control Improvement in Collaborative Robots through Theory Analysis and Experimental Endorsement. Applied Sciences. 10(12):1-24. https://doi.org/10.3390/app10124329

Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/167206

Ficheros en el ítem

Thumbnail
Nombre: Pérez-Ubeda;Zotov ...
Tamaño: 3.276Mb
Formato: PDF
Descripción: Versión editorial
Abrir/Preview

Metadatos del ítem

Título: Force Control Improvement in Collaborative Robots through Theory Analysis and Experimental Endorsement
Autor: Pérez-Ubeda, Rodrigo Zotovic Stanisic, Ranko Gutiérrez, S. C.
Entidad UPV: Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials
Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica
Fecha difusión:
Resumen:
[EN] Due to the elasticity of their joints, collaborative robots are seldom used in applications with force control. Besides, the industrial robot controllers are closed and do not allow the user to access the motor torques ...[+]
Palabras clave: Force control , Collaborative robot , Inner/outer loop , Elastic robot , Polishing operation
Derechos de uso: Reconocimiento (by)
Fuente:
Applied Sciences. (eissn: 2076-3417 )
DOI: 10.3390/app10124329
Editorial:
MDPI AG
Versión del editor: https://doi.org/10.3390/app10124329
Código del Proyecto:
info:eu-repo/grantAgreement/MINECO//DPI2016-81002-R/ES/CONTROL AVANZADO Y APRENDIZAJE DE ROBOTS EN OPERACIONES DE TRANSPORTE/
info:eu-repo/grantAgreement/CONICYT//2017-72180157/
Agradecimientos:
The authors are grateful for the financial support of the Spanish Ministry of Economy and European Union, grant DPI2016-81002-R (AEI/FEDER, UE), to the research work here published. Rodrigo Perez-Ubeda is grateful to the ...[+]
Tipo: Artículo

References

Top Trends Robotics 2020—International Federation of Robotics https://ifr.org/ifr-press-releases/news/top-trends-robotics-2020

Gaz, C., Magrini, E., & De Luca, A. (2018). A model-based residual approach for human-robot collaboration during manual polishing operations. Mechatronics, 55, 234-247. doi:10.1016/j.mechatronics.2018.02.014

Iglesias, I., Sebastián, M. A., & Ares, J. E. (2015). Overview of the State of Robotic Machining: Current Situation and Future Potential. Procedia Engineering, 132, 911-917. doi:10.1016/j.proeng.2015.12.577 [+]
Top Trends Robotics 2020—International Federation of Robotics https://ifr.org/ifr-press-releases/news/top-trends-robotics-2020

Gaz, C., Magrini, E., & De Luca, A. (2018). A model-based residual approach for human-robot collaboration during manual polishing operations. Mechatronics, 55, 234-247. doi:10.1016/j.mechatronics.2018.02.014

Iglesias, I., Sebastián, M. A., & Ares, J. E. (2015). Overview of the State of Robotic Machining: Current Situation and Future Potential. Procedia Engineering, 132, 911-917. doi:10.1016/j.proeng.2015.12.577

Perez-Ubeda, R., Gutierrez, S. C., Zotovic, R., & Lluch-Cerezo, J. (2019). Study of the application of a collaborative robot for machining tasks. Procedia Manufacturing, 41, 867-874. doi:10.1016/j.promfg.2019.10.009

Spong, M. W. (1989). On the force control problem for flexible joint manipulators. IEEE Transactions on Automatic Control, 34(1), 107-111. doi:10.1109/9.8661

Ren, T., Dong, Y., Wu, D., & Chen, K. (2019). Impedance control of collaborative robots based on joint torque servo with active disturbance rejection. Industrial Robot: the international journal of robotics research and application, 46(4), 518-528. doi:10.1108/ir-06-2018-0130

Ajoudani, A., Tsagarakis, N. G., & Bicchi, A. (2017). Choosing Poses for Force and Stiffness Control. IEEE Transactions on Robotics, 33(6), 1483-1490. doi:10.1109/tro.2017.2708087

Magrini, E., & De Luca, A. (2016). Hybrid force/velocity control for physical human-robot collaboration tasks. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). doi:10.1109/iros.2016.7759151

Ahmad, S. (1993). Constrained motion (force/position) control of flexible joint robots. IEEE Transactions on Systems, Man, and Cybernetics, 23(2), 374-381. doi:10.1109/21.229451

Calanca, A., & Fiorini, P. (2018). Understanding Environment-Adaptive Force Control of Series Elastic Actuators. IEEE/ASME Transactions on Mechatronics, 23(1), 413-423. doi:10.1109/tmech.2018.2790350

Oh, S., & Kong, K. (2017). High-Precision Robust Force Control of a Series Elastic Actuator. IEEE/ASME Transactions on Mechatronics, 22(1), 71-80. doi:10.1109/tmech.2016.2614503

Yin, H., Li, S., & Wang, H. (2016). Sliding mode position/force control for motion synchronization of a flexible-joint manipulator system with time delay. 2016 35th Chinese Control Conference (CCC). doi:10.1109/chicc.2016.7554329

Ma, Z., Hong, G.-S., Ang, M. H., Poo, A.-N., & Lin, W. (2018). A Force Control Method with Positive Feedback for Industrial Finishing Applications. 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). doi:10.1109/aim.2018.8452689

Huang, L., Ge, S. S., & Lee, T. H. (2006). Position/force control of uncertain constrained flexible joint robots. Mechatronics, 16(2), 111-120. doi:10.1016/j.mechatronics.2005.10.002

Chiaverini, S., Siciliano, B., & Villani, L. (1999). A survey of robot interaction control schemes with experimental comparison. IEEE/ASME Transactions on Mechatronics, 4(3), 273-285. doi:10.1109/3516.789685

Winkler, A., & Suchy, J. (2016). Explicit and implicit force control of an industrial manipulator — An experimental summary. 2016 21st International Conference on Methods and Models in Automation and Robotics (MMAR). doi:10.1109/mmar.2016.7575081

Neranon, P., & Bicker, R. (2016). Force/position control of a robot manipulator for human-robot interaction. Thermal Science, 20(suppl. 2), 537-548. doi:10.2298/tsci151005036n

Chen, S., Zhang, T., & Zou, Y. (2017). Fuzzy-Sliding Mode Force Control Research on Robotic Machining. Journal of Robotics, 2017, 1-8. doi:10.1155/2017/8128479

Lin, H.-I., & Dubey, V. (2018). Design of an Adaptive Force Controlled Robotic Polishing System Using Adaptive Fuzzy-PID. Advances in Intelligent Systems and Computing, 825-836. doi:10.1007/978-3-030-01370-7_64

Perez-Vidal, C., Gracia, L., Sanchez-Caballero, S., Solanes, J. E., Saccon, A., & Tornero, J. (2019). Design of a polishing tool for collaborative robotics using minimum viable product approach. International Journal of Computer Integrated Manufacturing, 32(9), 848-857. doi:10.1080/0951192x.2019.1637026

Chen, F., Zhao, H., Li, D., Chen, L., Tan, C., & Ding, H. (2019). Contact force control and vibration suppression in robotic polishing with a smart end effector. Robotics and Computer-Integrated Manufacturing, 57, 391-403. doi:10.1016/j.rcim.2018.12.019

Mohammad, A. E. K., Hong, J., & Wang, D. (2018). Design of a force-controlled end-effector with low-inertia effect for robotic polishing using macro-mini robot approach. Robotics and Computer-Integrated Manufacturing, 49, 54-65. doi:10.1016/j.rcim.2017.05.011

Xiao, C., Wang, Q., Zhou, X., Xu, Z., Lao, X., & Chen, Y. (2019). Hybrid Force/Position Control Strategy for Electromagnetic based Robotic Polishing Systems. 2019 Chinese Control Conference (CCC). doi:10.23919/chicc.2019.8865183

Li, J., Zhang, T., Liu, X., Guan, Y., & Wang, D. (2018). A Survey of Robotic Polishing. 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO). doi:10.1109/robio.2018.8664890

Zollo, L., Siciliano, B., De Luca, A., Guglielmelli, E., & Dario, P. (2004). Compliance Control for an Anthropomorphic Robot with Elastic Joints: Theory and Experiments. Journal of Dynamic Systems, Measurement, and Control, 127(3), 321-328. doi:10.1115/1.1978911

Han, D., Duan, X., Li, M., Cui, T., Ma, A., & Ma, X. (2017). Interaction Control for Manipulator with compliant end-effector based on hybrid position-force control. 2017 IEEE International Conference on Mechatronics and Automation (ICMA). doi:10.1109/icma.2017.8015929

Schindlbeck, C., & Haddadin, S. (2015). Unified passivity-based Cartesian force/impedance control for rigid and flexible joint robots via task-energy tanks. 2015 IEEE International Conference on Robotics and Automation (ICRA). doi:10.1109/icra.2015.7139036

Zotovic Stanisic, R., & Valera Fernández, Á. (2009). Simultaneous velocity, impact and force control. Robotica, 27(7), 1039-1048. doi:10.1017/s0263574709005451

Volpe, R., & Khosla, P. (1993). A theoretical and experimental investigation of explicit force control strategies for manipulators. IEEE Transactions on Automatic Control, 38(11), 1634-1650. doi:10.1109/9.262033

Zeng, G., & Hemami, A. (1997). An overview of robot force control. Robotica, 15(5), 473-482. doi:10.1017/s026357479700057x

Salisbury, J. (1980). Active stiffness control of a manipulator in cartesian coordinates. 1980 19th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes. doi:10.1109/cdc.1980.272026

Chen, S.-F., & Kao, I. (2000). Conservative Congruence Transformation for Joint and Cartesian Stiffness Matrices of Robotic Hands and Fingers. The International Journal of Robotics Research, 19(9), 835-847. doi:10.1177/02783640022067201

Institute of Robotics and Mechatronics DLR Light Weight Robot III https://www.dlr.de/rm/en/desktopdefault.aspx/tabid-12464/#gallery/29165

[-]

recommendations

 

Este ítem aparece en la(s) siguiente(s) colección(ones)

Mostrar el registro completo del ítem