TY - JOUR
TI - Force/position control of a robot manipulator for human-robot interaction
AU - Neranon Paramin
AU - Bicker Robert
JN - Thermal Science
PY - 2016
VL - 20
IS - 12
SP - 537
EP - 548
PT - Article
AB - 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.