Position-based impedance control for force tracking of a wall-cleaning unit

详细信息    查看全文

• 作者：Taegyun Kim ; Hwa Soo Kim ; Jongwon Kim
• 关键词：Impedance control ; Force tracking ; Stiffness adaptation ; Wall cleaning
• 刊名：International Journal of Precision Engineering and Manufacturing
• 出版年：2016
• 出版时间：March 2016
• 年：2016
• 卷：17
• 期：3
• 页码：323-329
• 全文大小：579 KB
• 参考文献：1.Raibert, M. H. and Craig, J. J., “Hybrid Position/Force Control of Manipulators,” Journal of Dynamic Systems, Measurement, and Control, Vol. 103, No. 2, pp. 126–133, 1981.
  2.Khatib, O., “A Unified Approach for Motion and Force Control of Robot Manipulators: The Operational Space Formulation,” IEEE Journal of Robotics and Automation, Vol. 3, No. 1, pp. 43–53, 1987.CrossRef
  3.Hogan, N., “Impedance Control: An Approach to Manipulation,” Proc. of American Control Conference, pp. 304–313, 1984.
  4.Kumar, N., Panwar, V., Sukavanam, N., Sharma, S. P., and Borm, J.-H., “Neural Network based Hybrid Force/Position Control for Robot Manipulators,” Int. J. Precis. Eng. Manuf., Vol. 12, No. 3, pp. 419–426, 2011.CrossRef MATH
  5.Kang, S., Komoriya, K., Yokoi, K., Koutoku, T., Kim, B., and Park, S., “Control of Impulsive Contact Force between Mobile Manipulator and Environment using Effective Mass and Damping Controls,” Int. J. Precis. Eng. Manuf., Vol. 11, No. 5, pp. 697–704, 2010.CrossRef
  6.Kim, Y.-L., Song, H.-C., and Song, J.-B., “Hole Detection Algorithm for Chamferless Square Peg-in-Hole based on Shape Recognition using F/T Sensor,” Int. J. Precis. Eng. Manuf., Vol. 15, No. 3, pp. 425–432, 2014.CrossRef
  7.Kim, J.-Y., Yang, U.-J., and Park, K., “Design, Motion Planning and Control of Frozen Shoulder Rehabilitation Robot,” Int. J. Precis. Eng. Manuf., Vol. 15, No. 9, pp. 1875–1881, 2014.CrossRef
  8.Kim, C. Y., Lee, M. C., Wicker, R. B., and Yoon, S.-M., “Dynamic Modeling of Coupled Tendon-Driven System for Surgical Robot Instrument,” Int. J. Precis. Eng. Manuf., Vol. 15, No. 10, pp. 2077–2084, 2014.CrossRef
  9.Seraji, H. and Colbaugh, R., “Force Tracking in Impedance Control,” The International Journal of Robotics Research, Vol. 16, No. 1, pp. 97–117, 1997.CrossRef
  10.Cho, H. C., Park, J. H., Kim, K., and Park, J.-O., “Sliding-Modebased Impedance Controller for Bilateral Teleoperation Under Varying Time-Delay,” Proc. of IEEE International Conference on Robotics and Automation, Vol. 1, pp. 1025–1030, 2001.
  11.Iwasaki, M., Tsujiuchi, N., and Koizumi, T., “Adaptive Force Control for Unknown Environment using Sliding Mode Controller with Variable Hyperplane,” JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing, Vol. 46, No. 3, pp. 967–972, 2003.CrossRef
  12.Jung, S., Hsia, T. C., and Bonitz, R.G., “Force Tracking Impedance Control of Robot Manipulators under Unknown Environment,” IEEE Transactions on Control Systems Technology, Vol. 12, No. 3, pp. 474–483, 2004.CrossRef
  13.Lee, K., and Buss, M., “Force Tracking Impedance Control with Variable Target Stiffness,” Proc. of the 17th IFAC World Congress, pp. 6751–6756, 2008.
  14.Seo, K., Cho, S., Kim, T., Kim, H. S., and Kim, J., “Design and Stability Analysis of a Novel Wall-Climbing Robotic Platform (Rope Ride),” Mechanism and Machine Theory, Vol. 70, pp. 189–208, 2013.CrossRef
  15.Kim, T., Seo, K., Kim, J.-H., and Kim, H. S., “Adaptive Impedance Control of a Cleaning Unit for a Novel Wall-Climbing Mobile Robotic Platform (Rope Ride),” Proc. of IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 994–999, 2014.
  16.Lee, K. and Kim, J., “Controller Gain Tuning of a Simultaneous Multi-Axis Pid Control System using the Taguchi Method,” Control Engineering Practice, Vol. 8, No. 8, pp. 949–958, 2000.CrossRef
  
• 作者单位：Taegyun Kim (1)
  Hwa Soo Kim (2)
  Jongwon Kim (1)
  
  1. School of Mechanical and Aerospace Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul, 08826, South Korea
  2. Department of Mechanical System Engineering, Kyonggi University, 154-42, Gwanggyosan-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, 16227, South Korea
  
• 刊物类别：Engineering
• 刊物主题：Industrial and Production Engineering
  Materials Science
  
• 出版者：Korean Society for Precision Engineering, in co-publication with Springer Verlag GmbH
• ISSN：2005-4602

文摘

This paper presents a position-based impedance control scheme for force tracking of a wall-cleaning unit installed on the wallclimbing mobile platform ROPE RIDE. It is important to maintain a contact force between the wall-cleaning unit and various types of walls in order to guarantee good cleaning performance. For this purpose, the target stiffness of impedance model as well as the reference position command for the wall-cleaning unit are tactfully adjusted according to the force tracing error between the real and reference contact forces. In comparison with existing impedance control methods, the proposed impedance control scheme is not only simple to implement but also robust against external disturbances such as varying trajectory or stiffness of walls as well as model uncertainties of cleaning unit. As a result, the proposed impedance control scheme can promise acceptable force tracking error in the steady state even for various trajectories of wall and varying reference forces. The stability and performance of proposed impedance control scheme are theoretically examined and the extensive experiments using the wall-cleaning unit are carried out to prove the force tracking capability of the proposed impedance control scheme.