Skip to main content
SpringerLink
Log in

Admittance Force Tracking Control Schemes for Robot Manipulators under Uncertain Environment and Dynamics

  • Regular Papers
  • Robot and Applications
  • Published:
International Journal of Control, Automation and Systems Aims and scope Submit manuscript

Abstract

Force control for robot manipulators is increasingly demanded for stable and desired interaction between robots and environments. In this paper, several modifications of an admittance force control scheme are presented and derived from force tracking impedance functions to give a force tracking capability to position-controlled robot manipulators. Admittance force control known as the position-based force control has a structural advantage of easy implementation for the force control capability to the existing position-controlled robot systems by closing an outer force control loop. The admittance filter as an inverse of impedance function is implemented to filter force errors to modify the reference position such that the eventual force tracking impedance control is realized indirectly. Admittance filters are formulated from impedance functions that guarantee the desired force/position tracking performances with the help of the time-delayed controller. Desired contact force/position tracking control is achieved under uncertain environment and dynamics. Extensive simulation studies of force/position tracking control performances of the proposed control schemes for a robot manipulator are conducted to confirm the proposition.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. W. Li, Y. Han, J. Wu, and Z. Xiong, “Collision detection of robots based on a force/torque sensor at the bedplate,” IEEE/ASME Trans. on Mechatronics, vol. 25, no. 5, pp. 2565–2573, 2020.

    Article  Google Scholar 

  2. Y. Lou, J. Wei, and S. Song, “Design and optimization of a joint torque sensor for robot collision detection,” IEEE Sensor Journal, vol. 19, no. 16, pp. 6618–6627, 2019.

    Article  Google Scholar 

  3. Y. J. Heo, D. Y. Kim, W. Lee, H. K. Kim, J. H. Park, and W. K. Chung, “Collision detection for industrial collaborative robots: A deep learning approach,” IEEE Robots and Automation Letters, vol. 4, no. 2, pp. 740–746, 2019.

    Article  Google Scholar 

  4. K. M. Park, J. H. Kim, J. H. Park, and F. C. Park, “Learning-based real-time detection of robot collisions without joint torque sensors,” IEEE Robots and Automation Letters, vol. 6, no. 1, pp. 103–110, 2019.

    Article  Google Scholar 

  5. M. Raibert and J. J. Craig, “Hybrid position/force control of manipulators,” ASME Journal. of Dynamic Systems, Measurements, and Control, vol. 102, pp. 126–133, 1981.

    Article  Google Scholar 

  6. N. Hogan, “Impedance control: An approach to manipulator, Part i, ii, iii,” ASME Journal of Dynamics Systems, Measurements, and Control, vol. 3, pp. 1–24, 1985.

    MATH  Google Scholar 

  7. R. J. Anderson and M. W. Spong, “Hybrid impedance control of robot manipulators,” IEEE Journal of Robotics and Automation, vol. 4, no. 5, pp. 549–556, 1988.

    Article  Google Scholar 

  8. S. Jung, T. C. Hsia, and R. G. Bonitz, “Force tracking impedance control for robot manipulators with an unknown environment: Theory, simulation, and experiment,” The International Journal of Robotics Research, vol. 20, no. 9, pp. 765–774, 2001.

    Article  Google Scholar 

  9. S. Jung, T. C. Hsia, and R. G. Bonitz, “Force tracking impedance control of robot manipulators under unknown environment,” IEEE Trans. on Control Systems Technology, vol. 12, no. 3, pp. 474–483, 2004.

    Article  Google Scholar 

  10. S. Jung, “A position-based force control approach to a quad-rotor system,” URAI, pp. 373–377, 2012.

    Google Scholar 

  11. H. Seraji, “Adaptive admittance control: An approach to explicit force control in compliant motion,” Proc. IEEE Conference on Robotics and Automations, pp. 2705–2712, 1994.

    Google Scholar 

  12. Q. Yang, J. Niu, and R. Song, “Admittance control of a 3 DOF cable-driven rehabilitation robot for upper-limb in three dimensional workspace,” ICARM, pp. 445–449, 2017.

    Google Scholar 

  13. E. E. Cruz and W. Y. Liu, “Stable PD position/force control in bidirectional teleoperation,” Proc. of International Conference on Electrical Engineering, Computing Science and Automatic Control, 2018.

    Google Scholar 

  14. Z. Li, B. Huang, Z. Ye, M. Deng, and C. Yang, “Physical human-robot interaction of a robotic exoskeleton by admittance control,” IEEE Trans. on Industrial Electronics, vol. 65, no. 12, pp. 9614–9624, 2018.

    Article  Google Scholar 

  15. G. Kang, H. S. Oh, J. K. Seo, U. Kim, and H. R. Choi, “Variable admittance control of robot manipulators based on human intention,” IEEE/ASME Trans. on Mechatronics, vol. 24, no. 3, pp. 1023–1032, 2019.

    Article  Google Scholar 

  16. S. Jung, “Admittance force tracking control for positioncontrolled robot manipulators under unknown environment,” ICCAS, pp. 219–224, 2020.

    Google Scholar 

  17. T. C. Hsia, “On a simplified joint controller design for robot manipulators,” Proc. of IEEE Conf. on CDC, pp. 1024–1025, 1987.

    Google Scholar 

  18. K. Yousef-Toumi and O. Ito, “A time-delay controller for systems with unknown dynamics,” Journal of Dynamic Systems, Measurement, and Control, vol. 112, pp. 133–142, 1990.

    Article  Google Scholar 

  19. P. H. Chang and S. H. Park, “On improving time-delay control under certain hard nonlinearities,” Mechatronics, vol. 13, pp. 393–412, May 2003.

    Article  Google Scholar 

  20. S. U. Lee and P. H. Chang, “The development of antiwindup scheme for time delay control with switching action using integral sliding surface,” Trans. ASME J. Dyn. Syst. Meas. Control, vol. 125, no. 4, pp. 630–638, Dec. 2003.

    Article  Google Scholar 

  21. S. Jung, “Stability analysis of reference compensation technique for controlling robot manipulators by neural network,” International Journal of Control, Automation, and Systems, vol. 15, no. 2, pp. 952–958, 2017.

    Article  Google Scholar 

  22. S. Jung, “Improvement of tracking control of a sliding mode controller for robot manipulators by a neural network,” International Journal of Control, Automation, and Systems, vol. 16, no. 2, pp. 937–943, 2018.

    Article  Google Scholar 

  23. Y. G. Bae and S. Jung, “Balancing control of a mobile manipulator with two-wheels by an acceleration-based disturbance observer,” International Journal of Humanoid Robotics, vol. 15, no. 3, 2018.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Mechatronics Engineering, Chungnam National University, 99 Daehak-ro, Yuseonggu, Daejeon, 34134, Korea

    Seul Jung & Do-Jin Jeong

Authors
  1. Seul Jung
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Do-Jin Jeong
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Seul Jung.

Additional information

Recommended by Editor Fumitoshi Matsuno. This paper was supported by the National Research Foundation of Korea under the grant (2017K1A3A1A68072072 & 2019R1I1A3A01062567) and Korea Institute for Advancement of Technology (P0008473, HRD Program for Industrial Innovation).

Seul Jung received his B.S. degree in electrical and computer engineering from Wayne State University, Detroit, MI, USA in 1988, and his M.S. and Ph.D. degrees in electrical and computer engineering from the University of California, Davis in 1991 and 1996, respectively. In 1997, he joined the Department of Mechatronics Engineering, Chungnam National University, where he is presently a professor. His research interests include intelligent mechatronics systems, intelligent robotic systems, autonomous navigation, gyroscope applications, and robot education.

Do-Jin Jeong received his B.S. degree in mechanical engineering from Han Nam University in 2019. He is currently a graduate student for a master degree at Department of Mechatronics Engineering at Chungnam National University. His research interests are mechatronic system modeling, control moment gyroscope and force control.

Publisher’s Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Jung, S., Jeong, DJ. Admittance Force Tracking Control Schemes for Robot Manipulators under Uncertain Environment and Dynamics. Int. J. Control Autom. Syst. 19, 3753–3763 (2021). https://doi.org/10.1007/s12555-020-0959-7

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12555-020-0959-7

Keywords

Search

Navigation