This paper presents a unified control framework for both set-point and time-varying force control of robot manipulator by introducing an improved position-based impedance control (IPBIC). In order to essentially achieve accurate force control, especially time-varying force tracking, a new target impedance function compensated by a force controller is presented. The essence of the improved method in realizing time-varying force tracking, as well as the coupled stability of the manipulator–environment system is investigated. To further improve the force control performance, the Newton-type iterative learning control (ILC) is introduced upon the closed-loop system. A case study on a two-link robot model demonstrates the effectiveness of this method.
Robotic Time-Varying Force Tracking in Position-Based Impedance Control
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received December 15, 2014; final manuscript received April 2, 2016; published online June 6, 2016. Assoc. Editor: Jwu-Sheng Hu.
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Xu, W. (June 6, 2016). "Robotic Time-Varying Force Tracking in Position-Based Impedance Control." ASME. J. Dyn. Sys., Meas., Control. September 2016; 138(9): 091008. https://doi.org/10.1115/1.4033409
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