Generalized Proportional Integral observer-based force control in robot manipulators

作者：Gutierrez Giles Alejandro^*; Arteaga Perez Marco A; Sira Ramirez Hebertt

来源：RIAI - Revista Iberoamericana de Automatica e Informatica Industrial, 2016, 13(2): 238-246.

DOI：10.1016/j.riai.2016.01.004

• Force control
• position control
• robotic manipulators
• state observers
• robust control

In this work the design of a linear observer-linear controller robust output feedback scheme is introduced for simultaneous trajectory tracking of position and force in fully actuated robot manipulators. The unknown state-dependent additive nonlinearity influencing the input-output description is modeled as an absolutely bounded "time-varying perturbation". Generalized Proportional Integral (GPI) observers are shown to naturally estimate the unknown perturbation and a certain number of its time derivatives in an arbitrarily close manner. This information is used to advantage on the linear feedback controller design via a simple cancelation effort. To the best of the authors' knowledge GPI observers have not been used before for robot force control. A comparison experimental analysis is presented to show the good performance of the proposed approach.

• 出版日期2016-6