DOI: https://doi.org/10.20535/2305-9001.2013.68.36248

IMPLEMENTATION OF FORCE/TORQUE CONTROL FOR 2-DoF MANIPULATOR

В. В. Титов, И. В. Шардыко, И. Ю. Даляев

Abstract


This paper describes an approach to force control of two degrees of freedom robot manipulator. Aspects of control implementation concerning a joint torque sensor are discussed and a technique to its correction and calibration is presented. Twolevel control scheme is used for the purposes of easier implementation. Such an approach has proved to be convenient in organizing general control structure and intrinsic to the two-time-scale dynamics of the system. For the fast part of system dynamics (corresponding to controlling the value measured by the torque sensor) detailed joint model is presented. Based on this model, two variants of torque control loop are developed and their terms of application are outlined. Two types of control strategies for the slow part of system dynamics include an impedance control regime and a regime of gravity compensation as well as trajectory tracking based on the impedance control.

Keywords


force-torque control; sensor; manipulator control

References


http://www.lorenz-messtechnik.de/english/files/publications/Management_Systems_Calibration_Torque.pdf

http://www.lorenz-messtechnik.de/english/company/torque_measurement_technology.php

https://measurementsensors.honeywell.com/ProductDocuments/Manuals/1800/OperatingService/Manual.pdf

I. Dalyaev. «Datchik vyhodnogo momenta sharnira». Ekstremal'naya robototehnika. Sbornik dokladov Vse rossiyskoy nauchno-tehnicheskoy konferencii. Sankt-Peterburg: Izd-vo Politehnika-servis», 2011. 454p.;

Olsson H., Astrom K.J., Canudas de Wit C., Gafvert M., Lischinsky P., «Friction Models and Friction Compensation,» Eur. J. Control, t. Vol. 4, 3, pp. 176-195, 1998.

Albu-Schaffer A., Ott C., Hirzinger G., «A passivity based Cartesian impedance controller for flexible joint robots - part II: full state feedback, impedance design and experiments,» 2004.


GOST Style Citations


1. http://www.lorenz-messtechnik.de/english/files/publications/Management_Systems_Calibration_Torque.pdf


2. http://www.lorenz-messtechnik.de/english/company/torque_measurement_technology.php


3.https://measurementsensors.honeywell.com/ProductDocuments/Manuals/1800/OperatingService/Manual.pdf


4. И.Ю. Даляев. «Датчик выходного момента шарнира». Экстремальная робототехника // Сборник докладов Все российской научно-технической конференции. – Санкт-Петербург: Изд-во Политехника-сервис», 2011. – 454с.;


5. Olsson H., Åström K.J., Canudas de Wit C., Gäfvert M., Lischinsky P., «Friction Models and Friction Compensation,» Eur. J. Control, т. Vol. 4, № 3, pp. 176-195, 1998.


6. Albu-Schaffer A., Ott C., Hirzinger G., «A passivity based Cartesian impedance controller for flexible joint robots - part II: full state feedback, impedance design and experiments,» 2004.





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