Robust Hybrid Position-Force Control for Robotic Surface Polishing

Publication Type:
Journal Article
Journal of Manufacturing Science and Engineering, Transactions of the ASME, 2019, 141 (1)
Issue Date:
Filename Description Size
JMSE_ForceControl_2018.pdfAccepted Manuscript Version14.34 MB
Adobe PDF
Full metadata record
© 2018 HMP Communications. All rights reserved. This work presents a hybrid position-force control of robots for surface polishing using task priority. The robot force control is designed using sliding mode ideas in order to benefit from its inherent robustness and low computational cost. In order to avoid the chattering drawback typically present in sliding mode control, several chattering-free controllers are evaluated and tested. A distinctive feature of the method is that the sliding mode force task is defined using not only equality constraints but also inequality constraints, which are satisfied using conventional and nonconventional sliding mode control, respectively. Moreover, a lower priority tracking controller is defined to follow the desired reference trajectory on the surface being polished. The applicability and the effectiveness of the proposed approach considering the mentioned chattering-free controllers are substantiated by experimental results using a redundant 7R manipulator.
Please use this identifier to cite or link to this item: