Admittance Force Tracking Control Schemes for Robot Manipulators under Uncertain Environment and Dynamics

다국어 초록 (Multilingual Abstract)

Force control for robot manipulators is increasingly demanded for stable and desired interaction between robots and environments. In this paper, several modifications of an admittance force control scheme are presentedand derived from force tracking impedance functions to give a force tracking capability to position-controlled robot manipulators. Admittance force control known as the position-based force control has a structural advantage ofeasy implementation for the force control capability to the existing position-controlled robot systems by closing an outer force control loop. The admittance filter as an inverse of impedance function is implemented to filterforce errors to modify the reference position such that the eventual force tracking impedance control is realized indirectly. Admittance filters are formulated from impedance functions that guarantee the desired force/positiontracking performances with the help of the time-delayed controller. Desired contact force/position tracking control is achieved under uncertain environment and dynamics. Extensive simulation studies of force/position tracking controlperformances of the proposed control schemes for a robot manipulator are conducted to confirm the proposition.

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