TY - GEN
T1 - A Decentralized Force Controller Synthesis for Compliant Robots Driven by Series Elastic Actuators
AU - Sariyildiz, Emre
AU - Mutlu, Rahim
AU - Nozaki, Takahiro
AU - Murakami, Toshiyuki
N1 - Funding Information:
This work was supported in part by University of Wollongong,AcademicResearchFundGlobalChallengeand in part by the International Young Scientist program of National Natural Science Foundation of China, Grant No: 61750110525.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/5/24
Y1 - 2019/5/24
N2 - This paper deals with the decentralized force control problem of compliant robots driven by Series Elastic Actuators (SEAs). The decentralized force control problem of a compliant robot manipulator is transformed into the robust position control problem of a servo system by using Hooke's law and lumping the nonlinear dynamics and unknown disturbances of the robot manipulator into a fictitious disturbance variable. In order to precisely follow the reference force trajectories at joint space, i.e., the position trajectories of the servo systems, the robust controller is synthesized by using Disturbance Observer (DOb) and Sliding Mode Control (SMC). Although the robust force controller can be synthesized by using only SMC, the force control signal may suffer from high control signal chattering as the force reference input is increased. In addition to improving the robustness of force control, DOb significantly suppresses the discontinuous control signal chattering by allowing to decrease the SMC gain. When the proposed decentralized robust force controller is implemented, the compliant robot can precisely track desired force trajectories and safely contact to different environments. The validity of the proposed force controller is verified by giving the simulation results of a redundant robot manipulator.
AB - This paper deals with the decentralized force control problem of compliant robots driven by Series Elastic Actuators (SEAs). The decentralized force control problem of a compliant robot manipulator is transformed into the robust position control problem of a servo system by using Hooke's law and lumping the nonlinear dynamics and unknown disturbances of the robot manipulator into a fictitious disturbance variable. In order to precisely follow the reference force trajectories at joint space, i.e., the position trajectories of the servo systems, the robust controller is synthesized by using Disturbance Observer (DOb) and Sliding Mode Control (SMC). Although the robust force controller can be synthesized by using only SMC, the force control signal may suffer from high control signal chattering as the force reference input is increased. In addition to improving the robustness of force control, DOb significantly suppresses the discontinuous control signal chattering by allowing to decrease the SMC gain. When the proposed decentralized robust force controller is implemented, the compliant robot can precisely track desired force trajectories and safely contact to different environments. The validity of the proposed force controller is verified by giving the simulation results of a redundant robot manipulator.
KW - Compliant Robot
KW - Decentralized Force Control
KW - Disturbance Observer
KW - Robust Force Control
KW - Series Elastic Actuator
KW - Sliding Mode Control
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U2 - 10.1109/ICMECH.2019.8722923
DO - 10.1109/ICMECH.2019.8722923
M3 - Conference contribution
AN - SCOPUS:85067117953
T3 - Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
SP - 661
EP - 666
BT - Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Mechatronics, ICM 2019
Y2 - 18 March 2019 through 20 March 2019
ER -