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Analysis of Bilinear Force Tracking Control for Robot Manipulators Under Unknown Environment

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Abstract

This paper presents the analysis of bilinear force/position control (BFC) schemes for the guaranteed force tracking performance of a robot manipulator under unknown environment. Borrowing the concept of impedance force control and hybrid force control, BFC schemes are formulated by combining two force control algorithms. The proposed BFC scheme guarantees the desired force/position tracking performance for any environment with the help of a model-based control method by achieving independent axis control. Guaranteed force tracking control performances of three different bilinear functions are presented and analysed. Their performances are tested and compared without knowing any information on the environment such as position and stiffness a priori. Simulation studies of BFC tracking performances for a robot manipulator to follow the sinusoidal trajectory while regulating a desired force on the environment are performed to verify the practical force tracking control performance.

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Authors and Affiliations

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

    Seul Jung

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  1. Seul Jung
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Correspondence to Seul Jung.

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The author declares that there is no competing financial interest or personal relationship that could have appeared to influence the work reported in this paper.

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This work was supported by the Chungnam National University Grant.

Seul Jung received his B.S. degree in electrical and computer engineering from Wayne State University, 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, mobility, gyroscope applications, and robot education.

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Jung, S. Analysis of Bilinear Force Tracking Control for Robot Manipulators Under Unknown Environment. Int. J. Control Autom. Syst. 21, 4006–4014 (2023). https://doi.org/10.1007/s12555-023-0161-9

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  • DOI: https://doi.org/10.1007/s12555-023-0161-9

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