Force tracking control for motion synchronization in human-robot collaboration

Robust Hybrid Motion Force Control Algorithm for Robot Manipulators

In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...

Design of an Adaptive Fuzzy Estimator for Force/Position Tracking in Robot Manipulators

This paper presents a stable new algorithm for force/position control in robot manipulators. In this algorithm, position vectors are measured by sensors and then used in the control law. Since using force sensor has some issues such as high costs and technical problems, an approach is presented to overcome these issues. In this respect, force sensor is replaced by an adaptive fuzzy estimator to...

Industrial robot motion control for joint tracking in laser welding

Adaptive Robust Motion and Force Tracking Control of Robot Manipulators in Contact with Stiff Surfaces

High performance robust motion and force tracking control of robot manipulators in contact with sti surfaces is considered in this paper. The robot parameters and the sti ness of the contact surface may not be known. The system may also be subjected to uncertain nonlinearities coming from the joint friction of the robot, external disturbances, the contact surface friction model, and the unknown...

Force/position Control of Robot Manipulator for Human-robot Interaction

With regard to both human and robot capabilities, human-robot interaction provides several benefits, and this will be significantly developed and implemented. This work focuses on the development of real-time external force/position control used for human-robot interaction. The force-controlled robotic system integrated with proportional integral control was performed and evaluated to ensure it...