E-019
Robust Hybrid Force/Position Control with Experiments on an Industrial Robot
Authors: Ciro Natale, Bruno Siciliano, Luigi Villani
Affiliation: PRISMA Lab, Dipartimento di Informatica e Sistemistica Universita` degli
Studi di Napoli Federico II
Abstract
The aim of this paper is to report the results of an experimental investigation of
hybrid force/position control algorithms for a robot manipulator, whose end effector
is in contact with a nearly rigid spherical surface. The model of the constrained
robot is derived using the classical Lagrangian multiplier approach. An inverse dynamics
strategy is adopted to design the hybrid force/position controllers, comprising a
proportional-derivative (PD) action on position, and either a proportional (P) action
or a proportional-integral (PI) action on force. Then, in order to robustify the
system in practical implementation, a parallel force/position control strategy is
adopted along the constrained direction. Two typical contact tasks are executed and
the various control algorithms are tested on an industrial robot with open control
architecture and wrist force sensor.
PRISMA Lab
Dipartimento di Informatica e Sistemistica Universita` degli Studi di Napoli Federico
II
Via Claudio 21, 80125 Napoli, Italy
E-mail: {natale,siciliano,villani}@disna.dis.unina.it