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

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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.

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Correspondence to Seul Jung.

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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.

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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).

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