CILAP-Architecture for Simultaneous Position- and Force-Control in Constrained Manufacturing Tasks

Sophie Klecker, Bassem Hichri, Peter Plapper

2018

Abstract

This paper presents a parallel control concept for automated constrained manufacturing tasks, i.e. for simultaneous position- and force-control of industrial robotic manipulators. The manipulator’s interaction with its environment results in a constrained non-linear switched system. In combination with internal and external uncertainties and in the presence of friction, the stable system performance is impaired. The aim is to mimic a human worker’s behaviour encoded as lists of successive desired positions and forces obtained from the records of a human performing the considered task operating the lightweight robot arm in gravity compensation mode. The suggested parallel control concept combines a model-free position- and a model-free torque-controller. These separate controllers combine conventional PID- and PI-control with adaptive neuro-inspired algorithms. The latter use concepts of a reward-like incentive, a learning system and an actuator-inhibitor-interplay. The elements Conventional controller, Incentive, Learning system and Actuator-Preventer interaction form the CILAP-concept. The main contribution of this work is a biologically inspired parallel control architecture for simultaneous position- and force-control of continuous in contrast to discrete manufacturing tasks without having recourse to visual inputs. The proposed control-method is validated on a surface finishing process-simulation. It is shown that it outperforms a conventional combination of PID- and PI-controllers.

Paper Citation

in Harvard Style

Klecker S., Hichri B. and Plapper P. (2018). CILAP-Architecture for Simultaneous Position- and Force-Control in Constrained Manufacturing Tasks.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 244-251. DOI: 10.5220/0006828902440251

in Bibtex Style

@conference{icinco18,
author={Sophie Klecker and Bassem Hichri and Peter Plapper},
title={CILAP-Architecture for Simultaneous Position- and Force-Control in Constrained Manufacturing Tasks},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={244-251},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006828902440251},
isbn={978-989-758-321-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - CILAP-Architecture for Simultaneous Position- and Force-Control in Constrained Manufacturing Tasks
SN - 978-989-758-321-6
AU - Klecker S.
AU - Hichri B.
AU - Plapper P.
PY - 2018
SP - 244
EP - 251
DO - 10.5220/0006828902440251