Force/Position Hybrid Control for a Hexa Robot Using Gradient Descent Iterative Learning Control Algorithm
This paper presents an approach of the force/position hybrid control for a hexa parallel robot to guarantee a safe and accurate interaction when touching the object surface. A double-loop PID controller is proposed to replace the common PID controller in the position control to eliminate position er...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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IEEE
2019-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8726373/ |
| _version_ | 1818855204368416768 |
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| author | Ba-Phuc Huynh Cheng-Wei Wu Yong-Lin Kuo |
| author_facet | Ba-Phuc Huynh Cheng-Wei Wu Yong-Lin Kuo |
| author_sort | Ba-Phuc Huynh |
| collection | DOAJ |
| description | This paper presents an approach of the force/position hybrid control for a hexa parallel robot to guarantee a safe and accurate interaction when touching the object surface. A double-loop PID controller is proposed to replace the common PID controller in the position control to eliminate position errors due to the dynamics coupling effect between the arms and the vibration of the mechanical system. An impedance control model is used to guarantee a safe and accurate interaction when touching the object surface. In addition, a gradient descent iterative learning control algorithm is used and modified to determine the optimal impedance parameters in unknown environments. A model of the robot is built in SimMechanics to simulate and estimate system parameters. After that, the experimental work was conducted on a real robot to verify the effectiveness and feasibility of the proposed method. |
| first_indexed | 2024-12-19T08:04:53Z |
| format | Article |
| id | doaj.art-5deb681cab164ff0b3628905168b6f5d |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-19T08:04:53Z |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-5deb681cab164ff0b3628905168b6f5d2022-12-21T20:29:45ZengIEEEIEEE Access2169-35362019-01-017723297234210.1109/ACCESS.2019.29200208726373Force/Position Hybrid Control for a Hexa Robot Using Gradient Descent Iterative Learning Control AlgorithmBa-Phuc Huynh0Cheng-Wei Wu1Yong-Lin Kuo2https://orcid.org/0000-0003-3582-6067Graduate Institute of Automation and Control, National Taiwan University of Science and Technology, Taipei, TaiwanGraduate Institute of Automation and Control, National Taiwan University of Science and Technology, Taipei, TaiwanGraduate Institute of Automation and Control, National Taiwan University of Science and Technology, Taipei, TaiwanThis paper presents an approach of the force/position hybrid control for a hexa parallel robot to guarantee a safe and accurate interaction when touching the object surface. A double-loop PID controller is proposed to replace the common PID controller in the position control to eliminate position errors due to the dynamics coupling effect between the arms and the vibration of the mechanical system. An impedance control model is used to guarantee a safe and accurate interaction when touching the object surface. In addition, a gradient descent iterative learning control algorithm is used and modified to determine the optimal impedance parameters in unknown environments. A model of the robot is built in SimMechanics to simulate and estimate system parameters. After that, the experimental work was conducted on a real robot to verify the effectiveness and feasibility of the proposed method.https://ieeexplore.ieee.org/document/8726373/Hybrid controlHexa robotimpedance controldouble-loop PIDiterative learning |
| spellingShingle | Ba-Phuc Huynh Cheng-Wei Wu Yong-Lin Kuo Force/Position Hybrid Control for a Hexa Robot Using Gradient Descent Iterative Learning Control Algorithm IEEE Access Hybrid control Hexa robot impedance control double-loop PID iterative learning |
| title | Force/Position Hybrid Control for a Hexa Robot Using Gradient Descent Iterative Learning Control Algorithm |
| title_full | Force/Position Hybrid Control for a Hexa Robot Using Gradient Descent Iterative Learning Control Algorithm |
| title_fullStr | Force/Position Hybrid Control for a Hexa Robot Using Gradient Descent Iterative Learning Control Algorithm |
| title_full_unstemmed | Force/Position Hybrid Control for a Hexa Robot Using Gradient Descent Iterative Learning Control Algorithm |
| title_short | Force/Position Hybrid Control for a Hexa Robot Using Gradient Descent Iterative Learning Control Algorithm |
| title_sort | force position hybrid control for a hexa robot using gradient descent iterative learning control algorithm |
| topic | Hybrid control Hexa robot impedance control double-loop PID iterative learning |
| url | https://ieeexplore.ieee.org/document/8726373/ |
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