Educational Force Control Using a Modular 2-DOF Serial Robot Manipulator and Low-Cost 2-DOF Force Sensor

IF 1 Q4 AUTOMATION & CONTROL SYSTEMS
S. Mascaro
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Abstract

This paper describes a modular 2-DOF serial robotic system and accompanying experiments that have been developed to instruct robotics students in the fundamentals of dynamic force control. In prior work, we used this same robot to showcase and compare the performance of a variety of textbook techniques for dynamic motion control (i.e. fast/accurate trajectory tracking using dynamic model-based and robust control techniques). In this paper we now add a low-cost 3D-printed 2-DOF force sensor to this modular robot and demonstrate a variety of force control techniques for use when the robot is in physical contact with the environment. These include stiffness control, impedance control, admittance control, and hybrid position/force control. Each of these various force control schemes can be first simulated and then experimentally implemented using a MATLAB/Simulink real-time interface. The two-degrees of freedom are just enough to demonstrate how the manipulator Jacobian can be used to implement directional impedances in operational space, and to demonstrate how hybrid control can implement position and force control in different axes. This paper will describe the 2-DOF robot system including the custom force sensor, illustrate the various force control methods that can be implemented, and demonstrate sample results from these experiments.
基于模块化2-DOF系列机器人机械臂和低成本2-DOF力传感器的教育力控制
本文描述了一个模块化的2-DOF系列机器人系统和伴随的实验,已经开发指导机器人学生动态力控制的基础。在之前的工作中,我们使用相同的机器人来展示和比较各种教科书技术的动态运动控制(即使用基于动态模型和鲁棒控制技术的快速/准确轨迹跟踪)的性能。在本文中,我们现在为这个模块化机器人添加了一个低成本的3d打印2-DOF力传感器,并演示了机器人与环境物理接触时使用的各种力控制技术。这些包括刚度控制、阻抗控制、导纳控制和混合位置/力控制。每种力控制方案都可以先进行仿真,然后使用MATLAB/Simulink实时接口进行实验实现。这两个自由度足以说明如何利用机械手雅可比矩阵在操作空间中实现方向阻抗,并说明混合控制如何在不同轴上实现位置和力的控制。本文将描述包括自定义力传感器在内的二自由度机器人系统,说明可以实现的各种力控制方法,并演示这些实验的示例结果。
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来源期刊
Mechatronic Systems and Control
Mechatronic Systems and Control AUTOMATION & CONTROL SYSTEMS-
CiteScore
1.40
自引率
66.70%
发文量
27
期刊介绍: This international journal publishes both theoretical and application-oriented papers on various aspects of mechatronic systems, modelling, design, conventional and intelligent control, and intelligent systems. Application areas of mechatronics may include robotics, transportation, energy systems, manufacturing, sensors, actuators, and automation. Techniques of artificial intelligence may include soft computing (fuzzy logic, neural networks, genetic algorithms/evolutionary computing, probabilistic methods, etc.). Techniques may cover frequency and time domains, linear and nonlinear systems, and deterministic and stochastic processes. Hybrid techniques of mechatronics that combine conventional and intelligent methods are also included. First published in 1972, this journal originated with an emphasis on conventional control systems and computer-based applications. Subsequently, with rapid advances in the field and in view of the widespread interest and application of soft computing in control systems, this latter aspect was integrated into the journal. Now the area of mechatronics is included as the main focus. A unique feature of the journal is its pioneering role in bridging the gap between conventional systems and intelligent systems, with an equal emphasis on theory and practical applications, including system modelling, design and instrumentation. It appears four times per year.
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