THERMAL SCIENCE

International Scientific Journal

Authors of this Paper

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Paramin Neranon

,

Robert Bicker

FORCE/POSITION CONTROL OF A ROBOT MANIPULATOR FOR HUMAN-ROBOT INTERACTION

ABSTRACT
With regard to both human and robot capabilities, human-robot interaction provides several benefits, and this will be significantly developed and implemented. This work focuses on the development of real-time external force/position control used for human-robot interaction. The force-controlled robotic system integrated with proportional integral control was performed and evaluated to ensure its reliably and timely operational characteristics, in which appropriate proportional integral gains were experimentally adopted using a set of virtual crank-turning tests. The designed robotic system is made up of a robot manipulator arm, an ATI Gamma multi-axis force/torque sensor and a real-time external PC based control system. A proportional integral controller has been developed to provide stable and robust force control on unknown environmental stiffness and motion. To quantify its effectiveness, the robotic system has been verified through a comprehensive set of experiments, in which force measurement and ALTER real-time path control systems were evaluated. In summary, the results indicated satisfactorily stable performance of the robot force/position control system. The gain tuning for proportional plus integral control algorithm was successfully implemented. It can be reported that the best performance as specified by the error root mean square method of the radial force is observed with proportional and integral gains of 0.10 and 0.005 respectively.
KEYWORDS
robot force/position control, proportional integral control, human-robot interaction
PAPER SUBMITTED: 2015-10-05
PAPER REVISED: 2015-11-19
PAPER ACCEPTED: 2016-01-10
PUBLISHED ONLINE: 2016-02-20
DOI REFERENCE: https://doi.org/10.2298/TSCI151005036N
CITATION EXPORT: view in browser or download as text file
THERMAL SCIENCE YEAR 2016, VOLUME 20, ISSUE Supplement 2, PAGES [S537 - S548]
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Force/position control of a robot manipulator for human-robot interaction

© 2024 Society of Thermal Engineers of Serbia. Published by the Vinča Institute of Nuclear Sciences, National Institute of the Republic of Serbia, Belgrade, Serbia. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution-NonCommercial-NoDerivs 4.0 International licence