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Hybrid motion/force control: a review
2017
Advanced Robotics
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This paper reviews hybrid motion/force control (HMFC), a control scheme which enables robots to perform tasks involving both motion, in the free space, and interactive force, at the contacts. ...
An emphasis is placed on the study of the decoupling of motion control and force control. ...
Kuo was supported by a UK National Nuclear Lab (NNL) Research Fellowship. ...
doi:10.1080/01691864.2017.1364168
fatcat:vtqojo2mbbflbblr6jidlftriq
Adaptive Robust Motion/Force Control of Holonomic-Constrained Nonholonomic Mobile Manipulators
2007
IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics)
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In this paper, adaptive robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. ...
The stability of the closed-loop system and the boundedness of tracking errors are proved using Lyapunov stability synthesis. ...
Input-output feedback linearization was investigated to control the mobile platform such that the manipulator is always positioned at the preferred configurations measured by its manipulability [4] . ...
doi:10.1109/tsmcb.2006.888661
pmid:17550115
fatcat:6senb3s4rzabdfw7wqxe66g4ei
Hybrid motion/force control of multi-backbone continuum robots
2015
The international journal of robotics research
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In this paper, we present the modeling, sensing and control of multi-backbone continuum robots in a unified framework for hybrid motion/force control. ...
and motion control laws in the configuration space of the manipulator. ...
However, when the robotic manipulator is required to accurately control position and force, the hybrid motion/force control provides superior results. ...
doi:10.1177/0278364915584806
fatcat:t56x2knzajg7pp75yyv34x6kuy
Adaptive Robust Output-Feedback Motion/Force Control of Electrically Driven Nonholonomic Mobile Manipulators
2008
IEEE Transactions on Control Systems Technology
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In this brief, adaptive robust output-feedback force/ motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties ...
The controls are developed on structural knowledge of the dynamics of the robot and actuators and in conjunction with a linear observer. ...
Tao, the National University of Singapore, for the discussions and suggestions. ...
doi:10.1109/tcst.2008.917228
fatcat:jtdjx5b2sjdtlpmtd3wieuye2e
UDE-based Dynamic Motion Force Control of Mobile Manipulators
[article]
2024
arXiv
pre-print
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In addition, embedding the dynamic model, an uncertainty and disturbance estimator-based (UDE-based) dynamic motion/force control scheme is proposed for the mobile manipulator, which compensates for the ...
To address this, this article presents a novel dynamic model of the manipulator on the mobile base that requires only the manipulator dynamics and the kinematic information of the mobile base. ...
At the same time, the adaptive neural network (NN) control is adopted to compensate for the unmodeled dynamics and disturbance. ...
arXiv:2404.00443v1
fatcat:ckxzz6itpbbjpfmy2tlmr5n5gm
On the Robust Hybrid Motion/Force Control of Nonholonomic Mobile Manipulators Including Actuator Dynamics
2008
2008 International Conference on Embedded Software and Systems Symposia
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The controls are based on structural knowledge of the dynamics of the robot and the actuator dynamics is also taken into account. ...
In this paper, robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. ...
Adaptive Neural Network (NN) based controls for the arm and the base had been proposed for the motion control of a mobile manipulator [4] . ...
doi:10.1109/icess.symposia.2008.55
fatcat:arkexbty6ffzzaf6jvubcpegze
Adaptive Neural Output Feedback Control for Uncertain Robot Manipulators with Input Saturation
2017
Complexity
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Finally, numerical simulation results are presented to illustrate the effectiveness of the proposed adaptive neural output feedback control scheme for uncertain robot manipulators. ...
This paper presents an adaptive neural output feedback control scheme for uncertain robot manipulators with input saturation using the radial basis function neural network (RBFNN) and disturbance observer ...
Robust adaptive motion/force tracking control was proposed for uncertain constrained robot manipulators in [59] . ...
doi:10.1155/2017/7413642
fatcat:qboauuw5ubgd7hhwgtcib2fbiu
Adaptive Robust Output-feedback Motion/Force Control of Electrically Driven Nonholonomic Mobile Manipulators
2007
American Control Conference (ACC)
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The controls are developed on structural knowledge of the dynamics of the robot, and the dynamics of actuators. ...
In this paper, adaptive robust output-feedback force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and ...
In [4] , adaptive neural network controls had been developed for the motion control of mobile manipulators subject to kinematic constraints. ...
doi:10.1109/acc.2007.4282503
dblp:conf/acc/0001GAW07
fatcat:glddqlau7ffvtbzbp477dx2i2i
Adaptive Neural Network Control for Nonlinear Hydraulic Servo-System with Time-Varying State Constraints
2017
Complexity
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By the backstepping design, the adaptive controller will be obtained. A radial basis function neural network (RBFNN) is used to estimate the uncertainties. ...
An adaptive neural network control problem is addressed for a class of nonlinear hydraulic servo-systems with time-varying state constraints. ...
Acknowledgments The work is supported by the National Natural Science Foundation of China (61603164, 61473139, and 61622303) and the project for Distinguished Professor of Liaoning Province. ...
doi:10.1155/2017/6893521
fatcat:ptsqsi2izfbx7dduoftburzj2u
Reinforcement Learning on Variable Impedance Controller for High-Precision Robotic Assembly
[article]
2019
arXiv
pre-print
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Precise robotic manipulation skills are desirable in many industrial settings, reinforcement learning (RL) methods hold the promise of acquiring these skills autonomously. ...
Moreover, we propose a neural network architecture that generalizes to reasonable variations of the environment. ...
ACKNOWLEDGEMENT This work is partially funded by Siemens. Authors would like to thank Tobias Johannink for generous help on setting up the experiments. ...
arXiv:1903.01066v2
fatcat:iefhzfp4crd23onbytbyo64o3i
An adaptive hybrid force/motion control design for robot manipulators interacting in constrained motion with unknown non-rigid environments
2013
IEEE ISR 2013
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In Section (III), an adaptive motion/force tracking problem is formulated, where an adaptive controller is developed. ...
The dynamics and related properties for constrained robot manipulators are addressed in Section (II). ...
doi:10.1109/isr.2013.6695632
dblp:conf/isr/JafariRRMTG10a
fatcat:et6iapld65he3gmhsfkmsepzce
Performance Analysis of a Neuro-PID Controller Applied to a Robot Manipulator
2012
International Journal of Advanced Robotic Systems
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The performance of robot manipulators with nonadaptive controllers might degrade significantly due to the open loop unstable system and the effect of some uncertainties on the robot model or environment ...
The Neural Network (NN) technique is applied to compensate for the effect of the uncertainties of the robot model. ...
[29] - [30] used fuzzy neural approaches to control the position of the manipulator and [31] proposed a position controller for robot manipulators using a neuro controller with genetic algorithm-based ...
doi:10.5772/51280
fatcat:fqn2tc5bbnbg3pr3deobu3hlzy
Dynamic External Force Feedback Loop Control of a Robot Manipulator Using a Neural Compensator—Application to the Trajectory Following in an Unknown Environment
2009
International Journal of Applied Mathematics and Computer Science
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Dynamic External Force Feedback Loop Control of a Robot Manipulator Using a Neural Compensator—Application to the Trajectory Following in an Unknown Environment Force/position control strategies provide ...
The purpose of this paper is to improve controller robustness by applying a neural network technique in order to compensate the effect of uncertainties in the robot model. ...
The works proposed an adaptive neural network control scheme for force control of an assembly robot. ...
doi:10.2478/v10006-009-0011-9
fatcat:n6zszxezgbbopbpzj2xc5x7nru
Survey of Visual and Force/Tactile Control of Robots for Physical Interaction in Spain
2009
Sensors
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The robotic controllers which process and analyze this sensory information are usually based on three types of sensors (visual, force/torque and tactile) which identify the most widespread robotic control ...
strategies: visual servoing control, force control and tactile control. ...
Acknowledgements The authors want to express their gratitude to the Spanish Ministry of Science and Innovation and the Spanish Ministry of Education for their financial support through the projects DPI2005 ...
doi:10.3390/s91209689
pmid:22303146
pmcid:PMC3267194
fatcat:ejjzr5zjova5vfrdlmiqss7mea
Control of Flexible Manipulators. Theory and Practice
[chapter]
2010
Robot Manipulators Trends and Development
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Other strategy used in the direct force control is the inner/outer motion /force control, in which an outer closed loop force control works on an inner closed loop motion control. ...
Due to the property of adaptability, inherent to any learning process, all of these schemes have been widely applied to control of robotic manipulator (see e.g. ...
doi:10.5772/9209
fatcat:cp2jqyrfbnbvbincbwyiqg7bzm
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