Journal
AUTOMATICA
Volume 48, Issue 2, Pages 360-365Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2011.07.009
Keywords
Force/position tracking; Approximation free controller; Prescribed performance; Contact maintenance
Funding
- Alexander S. Onassis Public Benefit Foundation [G ZD 045/2007-2008]
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In this paper, we consider the problem of force/position tracking for a robot with revolute joints in compliant contact with a kinematically known planar surface. A novel controller is designed capable of guaranteeing, for an a priori known nonsingular initial robot condition, (i) certain predefined minimum speed of response, maximum steady state error as well as overshoot concerning the force/position tracking errors, (ii) contact maintenance and (iii) bounded closed loop signals. No information regarding either the robot dynamic model or the force deformation model is required and no approximation structures are utilized to estimate them. As the tracking performance is a priori guaranteed irrespectively of the control gains selection, the only concern is to adopt those values that lead to reasonable input torques. Finally, a comparative simulation study on a 6-DOF robot illustrates the performance of the proposed controller. (C) 2011 Elsevier Ltd. All rights reserved.
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