中文版 | English
Title

A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

Author
Publication Years
2023
DOI
Source Title
ISSN
1674-7321
EISSN
1869-1900
Abstract
Compliant interaction control is a key technology for robots performing contact-rich manipulation tasks. The design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance, especially for some industrial robots with low bandwidth sensors. This paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled robots. Inspired by human arm stiffness adaptation behavior, a novel variable target stiffness (NVTS) admittance control strategy is proposed for adaptive force tracking, in which a proportional integral derivative (PID) variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position feedback. Meanwhile, its stability and force-tracking capability are theoretically proven. In addition, an impact compensator (Impc) is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing tasks. The proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.
Keywords
URL[Source Record]
Indexed By
Language
English
SUSTech Authorship
Others
Funding Project
National Natural Science Foundation of China["62103407","52075530","52175272"] ; State Key Laboratory of Robotics Foundation[Y91Z0303]
WOS Research Area
Engineering ; Materials Science
WOS Subject
Engineering, Multidisciplinary ; Materials Science, Multidisciplinary
WOS Accession No
WOS:001059624600001
Publisher
Scopus EID
2-s2.0-85169923566
Data Source
Scopus
Citation statistics
Cited Times [WOS]:0
Document TypeJournal Article
Identifierhttp://kc.sustech.edu.cn/handle/2SGJ60CL/560060
DepartmentDepartment of Mechanical and Energy Engineering
Affiliation
1.State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang,110016,China
2.Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang,110169,China
3.University of Chinese Academy of Sciences,Beijing,100049,China
4.School of Computing,University of Portsmouth,Portsmouth,PO1 3HE,United Kingdom
5.Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Southern University of Science and Technology,Shenzhen,518055,China
6.Key Laboratory of Autonomous Systems and Networked Control,College of Automation Science and Engineering,South China University of Technology,Guangzhou,510640,China
Recommended Citation
GB/T 7714
Zhang,Xin,Zhou,Hao,Liu,Jin Guo,et al. A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments[J]. Science China Technological Sciences,2023.
APA
Zhang,Xin,Zhou,Hao,Liu,Jin Guo,Ju,Zhao Jie,Leng,Yu Quan,&Yang,Chen Guang.(2023).A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments.Science China Technological Sciences.
MLA
Zhang,Xin,et al."A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments".Science China Technological Sciences (2023).
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