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Robotica

Table of Contents - 2006 - Volume 24, Issue 06  


Article

Hybrid model-based force/position control: theory and experimental verification

Rafael Osypiuk a1c1 and Bernd Finkemeyer a2
a1 Institute of Control Engineering, Szczecin University of Technology, ul. 26 Kwietnia 10, 70–313 Szczecin, Poland
a2 KUKA Roboter GmbH, Zugspitzstrasse 140, Augsburg 86165, Germany

Article author query
osypiuk r   [Google Scholar] 
finkemeyer b   [Google Scholar] 
 

Abstract

Force/position control is a relatively young and rapidly developing branch of robotics. Its practical implementation faces many difficulties due to inherent process complexity. Despite this, the majority of contributions in this field use the classic approach to force control, i.e. single-loop PID control. In this paper, two model-based control structures are proposed, yielding much better results of force control as compared to the classic approach, to be achieved. These are two-loop model-following control (MFC) structures that guarantee interesting disturbance suppression behaviour by an additional degree of freedom. Tests carried out with a Manutec r2 manipulator with six degrees of freedom have shown clear advantages of the control structures under study.

(Received June 25 2006)
(Published Online September 9 2006)


Key Words: Force/Position Control; MBC Model-Based Control; MFC Model-Following Control; Single-Loop Structure.

Correspondence:
c1 Corresponding author. E-mail: rafael@ps.pl