A novel adaptive hybrid force-position control of a robotic manipulator
by Donatien Nganga-Kouya, Maarouf Saad, Francis A. Okou
International Journal of Modelling, Identification and Control (IJMIC), Vol. 13, No. 1/2, 2011

Abstract: A new hybrid force-position control method for uncertain robotic manipulator interacting with its environment is presented. First, the system dynamical model in the compliance frame is derived from the usual joint frame model and leads to two sets of equations due to the constraint associated to the contact surface. Next, the two dynamics are separately used for the synthesis of position and force tracking controllers. For the position control part, the design method consists of an estimated-parameters dependent coordinate transformation and a control law derived from a backstepping procedure. The force control law has two aspects: first it compensates the dynamical interaction between the end-effector motion and the force induced by the environment and secondly, it imposes a desired force using a proportional-like equation. Finally, a parameter-adaptation algorithm is derived from a stability criteria and dependent both on the position and force tracking errors. Simulation results on a four-degree of freedom robotic system tracking a triangle while maintaining a constant contact force prove the effectiveness of our solution.

Online publication date: Sat, 21-Mar-2015

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Modelling, Identification and Control (IJMIC):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com