Hybrid Force/Position Control of a Very Flexible Parallel Robot Manipulator in Contact with an Environment

Fatemeh Ansarieshlaghi, Peter Eberhard

Abstract

There are many applications for robot manipulators and these tasks are complicated when they have interaction with environments and humans. This paper investigates a novel strategy to control a very flexible parallel manipulator interacting with an environment. The controller is complicated when the used robot manipulator is a flexible multibody dynamics system and the flexibility shall be taken into account in the modeling and controlling process. Also, interaction with an unknown environment is another challenge of our research. Hence, a sophisticated controller is designed to overcome the respective challenges. To this end, a hybrid force/position control strategy is utilized. Therefore, two controllers based on the rigid and flexible models of the robot are designed and implemented to interact with a surface. The simulation results show that the controllers based on the flexible model have a better performance than those based on the rigid model and successfully track a trajectory and interact with an environment.

Download


Paper Citation


in Harvard Style

Ansarieshlaghi F. and Eberhard P. (2019). Hybrid Force/Position Control of a Very Flexible Parallel Robot Manipulator in Contact with an Environment.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 59-67. DOI: 10.5220/0007833400590067


in Bibtex Style

@conference{icinco19,
author={Fatemeh Ansarieshlaghi and Peter Eberhard},
title={Hybrid Force/Position Control of a Very Flexible Parallel Robot Manipulator in Contact with an Environment},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={59-67},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007833400590067},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Hybrid Force/Position Control of a Very Flexible Parallel Robot Manipulator in Contact with an Environment
SN - 978-989-758-380-3
AU - Ansarieshlaghi F.
AU - Eberhard P.
PY - 2019
SP - 59
EP - 67
DO - 10.5220/0007833400590067