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Controlling Robotic Contact Force on Curved and Complex Surfaces Based on an Online Identification Admittance Controller

  • Research Article-Mechanical Engineering
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Abstract

This paper proposes a new method for controlling robotic contact force based on an online environment stiffness admittance controller on curved and complex surfaces. A second-order system models the robot’s interaction with the environment, while a position-based admittance controller adjusts the reference force. A proposed method obtains the desired force by estimating the online environment stiffness based on the robot’s stiffness and combining the damped force. An exponential stability theorem was utilized to check the stability of this controller. The simulations were conducted to determine the efficiency of this method using different robot stiffnesses. Accurate positions were found at robot stiffnesses of (0.6) and (0.8) N/m and environment stiffnesses of (8500) and (9000) N/m for both surfaces at a force of 50 N. Moreover, polishing experiments were applied on the surfaces based on the simulation results. The contact force fluctuations did not exceed \( \pm 1.25 \) and \( \pm 1.3 \) N out of 10 N for both cases. Furthermore, roughness values were reduced from ranges of 40 to − 20 and 20 to − 20 \(\upmu \)m to ranges of 3.5 to − 3 and 5 to − 5.75 \(\upmu \)m for a vertical and horizontal line of the curved surface, respectively. Similarly, roughness values decreased from ranges of 180 to − 60 and 0 to − 66 \(\upmu \)m to ranges of 2.5 to − 3 and 3.75 to − 2.3 \(\upmu \)m for the vertical and horizontal lines for the complex surface, respectively. The approach was able to track desired force on these surfaces, which is quite challenge.

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Acknowledgements

The authors thank a teamwork of Bionic Engineering at the School of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics.

Funding

This work was supported by the National Natural Science Foundation of China under project No. (62233008) and No. (52205017).

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Authors and Affiliations

  1. Institute of Bio-inspired Surface Engineering, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Yuedaojie, Nanjing, 210016, Jiangsu, China

    Hosham Wahballa, Jinjun Duan & Zhendong Dai

  2. Faculty of Engineering, Karary University, 12304, Khartoum, Sudan

    Hosham Wahballa

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Contributions

The below lists are the authors’ contributions to this paper: conceptualizing and modeling, H.W.; simulations and experiments, H.W. and J.D.; analysis and evaluation, H.W.; writing and preparation, Z.D.; revising manuscript, supervision, Z.D. All authors have read and agreed to publish this manuscript.

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Correspondence to Jinjun Duan.

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Wahballa, H., Duan, J. & Dai, Z. Controlling Robotic Contact Force on Curved and Complex Surfaces Based on an Online Identification Admittance Controller. Arab J Sci Eng 49, 1625–1641 (2024). https://doi.org/10.1007/s13369-023-07826-5

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