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Robot Force/Position Control Combined with ILC for Repetitive High Speed Applications

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Advances in Robot Design and Intelligent Control (RAAD 2016)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 540))

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Abstract

In this paper an approach for robot force/position control combined with an iterative learning control is proposed. Following high speed force trajectories in different repetitive robotic applications is a challenging field in robotics. Such applications require a desired contact force while following a position/orientation trajectory in the non-force controlled directions. For this a parallel force/position control is suitable, but when it comes to high speed tasks with varying contact stiffness along the trajectory such a method reaches its dynamical limit. The problem can be solved by using the parallel force/position control to learn the trajectory for a slowed down task and correct this trajectory step by step towards the original task speed. When the original task speed is reached an iterative learning control law combined with the force/position control is used to further reduce the force error.

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References

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Acknowledgment

This work has been supported by the Austrian COMET-K2 program of the Linz Center of Mechatronics (LCM), and was funded by the Austrian federal government and the federal state of Upper Austria.

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Authors and Affiliations

  1. Institute of Robotics, Johannes Kepler University Linz, Altenbergerstraße 69, 4040, Linz, Austria

    Herbert Parzer, Hubert Gattringer & Andreas Müller

  2. FerRobotics Compliant Robot Technology GmbH, Altenbergerstraße 69, 4040, Linz, Austria

    Ronald Naderer

Authors
  1. Herbert Parzer
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  2. Hubert Gattringer
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  3. Andreas Müller
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  4. Ronald Naderer
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Corresponding author

Correspondence to Herbert Parzer .

Editor information

Editors and Affiliations

  1. Robotics Laboratory, Mihajlo Pupin Institute, Belgrade, Serbia

    Aleksandar Rodić

  2. Faculty of Automatic Control and Computers, University Politehnica of Bucharest, Bucharest, Romania

    Theodor Borangiu

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Parzer, H., Gattringer, H., Müller, A., Naderer, R. (2017). Robot Force/Position Control Combined with ILC for Repetitive High Speed Applications. In: Rodić, A., Borangiu, T. (eds) Advances in Robot Design and Intelligent Control. RAAD 2016. Advances in Intelligent Systems and Computing, vol 540. Springer, Cham. https://doi.org/10.1007/978-3-319-49058-8_2

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  • DOI: https://doi.org/10.1007/978-3-319-49058-8_2

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-49057-1

  • Online ISBN: 978-3-319-49058-8

  • eBook Packages: EngineeringEngineering (R0)

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