Reconfigurable Control of Constrained Flexible Joint Robots Interacting with Dynamic and Changeable Environment
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This chapter deals with the effect of changes at the machine/robot physical level and new reconfigurable control strategies to enable such change. Joint flexibility constitutes the major source of compliance in most industrial robots. It is important to account for joint flexibility when dealing with force control problems. In addition, the type of environment that the robot is in contact with, or the object that the robot works on, may be made of different materials. Hence, force control strategies suitable for both rigid and soft contact is needed corresponding to different parts of the object/surface while performing the task. A decoupling-based force/position control of flexible joint robot is first designed for rigid, stiff and dynamic environments. A reconfigurable force control scheme is proposed for when the robot’s working trajectory covers different types of environments. Numerical simulation results are presented to demonstrate the effectiveness of the proposed decoupling approach and the reconfigurable force control scheme. The desired contact force can be obtained, whether it is rigid or soft environment, without stopping the robot, due to the active reconfiguration of the controller. This novel reconfigurable control scheme can be extended, by including other well-designed controllers, thus achieving more versatile control reconfiguration under changeable situations.
KeywordsContact Force Force Control Rigid Surface Task Space Joint Robot
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