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Enhanced Admittance Control for Time-Varying Force Tracking of Robots in Unknown Environment

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Intelligent Robotics and Applications (ICIRA 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13014))

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Abstract

In this paper, we introduce admittance control as an approach to control the physical interaction between robot and environment, and propose an enhanced admittance controller (EAC) framework with a well-designed control scheme that improves the system response while possessing the ability to suppress transient force overshoot and maintain steady-state force tracking. Within this framework, we analyze the pre-fuzzy PID, environmental parameter estimation, computed torque control, and propose a time-varying force control theory analysis based on the traditional target admittance model, and introduce an adaptive algorithm to compensate the environmental uncertainty, and verify the stability of the system based on the Routh criterion and Lyapunov equation. Finally, simulations are performed to verify the proposed control scheme in terms of system response, transient and steady-state force overshoot, and steady-state force tracking. Finally, simulations are performed to verify the effectiveness of the proposed control scheme in terms of system response, transient and steady-state force control performance.

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Acknowledgments

This research is supported by the key R&D project “Key Technology and Application Research of High-Power Direct Drive Spindle Unit for High-end CNC Lathe” of Chongqing Technology Innovation and Application Development Special Project (project number cstc2019jscx-fxydX0022).

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Authors and Affiliations

  1. College of Mechanical Engineering, Chongqing University, Chongqing, China

    Chengguo Liu, Ye He, Kuan Li & Xue Zhao

  2. Key Laboratory of Mechanical Transmission of Chongqing, Chongqing, China

    Ye He

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  1. Chengguo Liu
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  2. Ye He
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  3. Kuan Li
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  4. Xue Zhao
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Editor information

Editors and Affiliations

  1. Tsinghua University, Beijing, China

    Xin-Jun Liu

  2. Tsinghua University, Beijing, China

    Zhenguo Nie

  3. Beihang University, Beijing, China

    Jingjun Yu

  4. Tsinghua University, Beijing, China

    Fugui Xie

  5. Shandong University, Shandong, China

    Rui Song

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Liu, C., He, Y., Li, K., Zhao, X. (2021). Enhanced Admittance Control for Time-Varying Force Tracking of Robots in Unknown Environment. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13014. Springer, Cham. https://doi.org/10.1007/978-3-030-89098-8_52

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  • DOI: https://doi.org/10.1007/978-3-030-89098-8_52

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-89097-1

  • Online ISBN: 978-3-030-89098-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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