Sliding Mode Contact Force Control of n-Dof Robotics by Force Estimation

  • Majid Namnabat Department of Control Engineering, College of Technical Engineering, Saveh Branch, Islamic Azad University, Saveh, Iran.
  • Amir Hossein Zaeri Department of Electrical Engineering, Shahinshahr Branch, Islamic Azad University, Isfahan, Iran.
  • Mohammad Vahedi Department of Mechanical Engineering, College of Technical Engineering, Saveh Branch, Islamic Azad University, Saveh, Iran.
Keywords: Robotic Systems, Force Control, Sliding Mode Control, Force Estimation

Abstract

Control of the force exerted on an object is important for boosting system performance in robotics manipulators. Any undesired applied force may leave remarkable effects on the system, with the potential to damage the object. In addition, measuring external force is another challenge associated with such cases. Proposing an appropriate force estimation algorithm is a solution to overcome this deficiency. In this research, a control strategy is proposed to control the external force applied on the n-dof robotics. To eliminate force measurement in the controller, a force estimation strategy based on a disturbance observer is employed. Subsequently, a sliding-mode based control is implemented to cope with the force estimation error. The closed-loop stability of the system in the presence of estimated force is analytically considered. The proposed algorithm was implemented on piezoelectric actuators as the experimental setup. The experimental results confirm that by employing the proposed control scheme, precise force control is achievable. The force estimation algorithm can also suitably estimate external force.  

References

[1] Z. Deng, H. Jin, Y. Hu, Y. He, P. Zhang, W. Tian, J. Zhang, "Fuzzy Force Control and State Detection in Vertebral Lamina Milling", Mechatronics 35, pp. 1-10, 2016.
[2] W. Y. Kim, S. Y. Ko, J. O Park and S. Park, "6-DOFforce Feedback Control of Robot-Assisted Bone Fracture Reduction System using Double F/T Sensors and Adjustable Admittances to Protect Bones Against Damage", Mechatronics, pp. 1-12, 2016.
[3] S Wen, G Qin, B Zhang, H. K. Lam, Y Zhao and H Wang, "The Study of Model Predictive Control Algorithm Based on the Force/Position Control Scheme of the 5-DOF Redundant Actuation Parallel Robot", Robotics and Autonomous Systems, (2016), DOI: http://dx.doi.org/10.1016/j.robot.2016.02.002.
[4] J. Zhao, G Shen, W. Zhu, C. Yang and J Yao, "Robust Force Control with a Feed-Forward Inverse Model Controller for Electro-Hydraulic Control Loading Systems of Flight Simulators", Mechatronics, 38 pp. 42-53, 2016.
[5] Y. Zhang, Peng Yan "An Adaptive Integral Sliding Mode Control Approach for Piezoelectric Nano-Manipulation with Optimal Transient Performance" Mechatronics (52), pp. 119-126, 2018.
[6] Y. Gao, J. Wen, J. Ma, Y. Zhang and J. Li "Aself-Adapting Linear Inchworm Piezoelectric Actuator based on a Permanent Magnets Clamping Structure" Mechanical Systems and Signal Processing, Vol. 132, pp. 429-440, 2019.
[7] Y. Pu, H. Zhou and Z. Meng "Multi-channel Adaptive Active Vibration Control of piezoelectric smart plate with Online Secondary Path Modeling using PZT Patches" Mechanical Systems and Signal Processing, Vol. 120, pp. 166-179, 2019.
[8] N. N. Son, C. V. Kien and H. P. H. Anh, "Parameters Iden Tification of Bouc-wen Hysteresis Mode for Piezoelectric Actuators Using Hybrid Adaptive Differential Evolution and Jaya Algorithm" Engineering Applications of Artificial Intelligence, Vol. 87, Article 103317, 2020.
[9] G. Wang and C. Rao, "Adaptive Control Of Piezoelectric Fast Steering Mirror for High Precision Tracking Application", Smart Material and Structure, Vol. 24, No. 3, 2015.
[10] Q, Xu, "Robust Impedance Control of a Compliant Microgripper for High-Speed Position/Force Regulation", IEEE Transaction on Industrial Electronics, Vol. 62, No. 2, pp. 1201-1209, 2015.
[11] Mohammadi, M. Tavakoli, H.J. Marquez, "Disturbance Observer based Control of Nonlinear Haptic Teleoperation Systems", IET Control Theory & Applications, Vol. 5, pp. 2063-2074, 2011.
[12] T. Turja, I. Aaltonen, S. Taipale and A. Oksanen "Robot Acceptance Model for Care (RAM-care): A Principal Approach to the Intention to Use Care Robots" Information & Management, Available 6th November, 2019, Article 103220.
[13] L. Ding, W. Jiang, Y. Zhou, C. Zhou and S. Liu "BIM-based task-level planning for Robotic Brick Assembly through Image-based 3D Modeling", Advanced Engineering Informatics, Vol. 43, Article 100993, 2020.
[14] H. Yuan, L. Zhou and W. Xu "A Comprehensive Static Model of Cable-Driven Multi-Section Continuum Robots Considering Friction Effect" Mechanism and Machine Theory, Vol. 35, pp. 130-149, 2019.
[15] M. Rakotondrabe, C. Cl'evy, K. Rabenorosoa, K. NCIR, "Presentation, Force Estimation Control of a Instrumented Platform Dedicated to Automated Micromanipulation Tasks", IEEE Conference on Automation Science and Engineering, 2010.
[16] T. Bhattacharjee, H. Son, D. Lee, "Haptic Control with Environment Force Estimation for Telesurgery", 30th Annul International IEEE EMBS Conference, 2008.
[17] H. Son, T. Bhattacharjee, D. Lee, "Estimation of Environmental Force for the Haptic Interface of Robotic Surgery", The International Journal of Medical Robotics and Computer Assisted Surgery (6), pp. 221-230, 2010.
[18] A. Marban,V. Srinivasan, W. Samek, J. Fernández and A. Casals "A Recurrent Conventional Neural Network Approach for Sensorless Force Estimation in Robotic Surgery", Biomedical Signal Processing and Control, Vol. 50, pp. 134-150, 2019.
[19] Y. Xiong, Y. Gao, L. Yang, L. Wu "An Integral Sliding Mode Approach to Distributed Control Of Coupled Networks with Measurement Quantization", Systems & Control Letters, Vol. 133, Article 104557, 2019.
[20] M. Rakotondrabe, YL. Gorrec,"Force control in Piezoelectric microactuators using self-scheduled H_inf technique", IFAC, Symposium on Mechatronics Systems, pp. 417-422, 2010.
[21] A. Gutiérrez-Giles and M. A. Arteaga-Pérez, “GPI based Velocity/Force Observer Design for Robot Manipulators”, ISA Transaction, 2014.
[22] F. Coutinho and R. Cortesão, “Online Stiffness Estimation for Robotic Tasks with Force Observers”, Control Engineering Practice, Vol. 24 (1), pp. 92-105, 2014.
[23] M. Solazzi, M. Abbrescia, R. Vertechy, V. Bevilacqua and A.Frisoli “An Interaction Torque Control Improving Human Force Estimation of the Rehab-exos exoskeleton”, IEEE Haptics Symposium, pp. 187-193, 2014.
[24] WH. Chen, DJ. Balance, PJ. Gawthrop, J. O'Reilly, "A Nonlinear Disturbance Observer for Robotic Manipulators", IEEE Transactions on Industrial Electronics, Vol. 47, pp. 932-938, 2000.
[25] H. K. Khalil, Nonlinear systems, 3rd ed.: Prentice Hall, 2002.
[26] Z. Lu and A. A. Goldenberg, A. “Robust Impedance Control and Force Regulation: Theory and Experiments”, The International Journal of Robotics Reasearch, Vol. 14, pp. 225-253, 1995.
[27] H. Amini, B. Farzaneh, F. Azimifar and A. A. D. Sarhan, “Sensor-less Force Reflecting Macro-Micro Telemanipulation Systems by Piezoelectric Actuators”, ISA Transactions, Vol. 64, pp. 293-302, 2016.
Published
2020-12-01
How to Cite
Namnabat, M., Zaeri, A. H., & Vahedi, M. (2020). Sliding Mode Contact Force Control of n-Dof Robotics by Force Estimation. Majlesi Journal of Electrical Engineering, 14(4), 1-9. https://doi.org/https://doi.org/10.29252/mjee.14.4.1
Section
Articles