Both the position and force control of robots are needed in industrial manufacturing, such as in assembly and grinding, etc. In this paper, we concentrate on two issues. One is the system oscillation in traditional hybrid force–position control...
A novel self-adaptive bilateral control strategy is introduced to manage uncertainties inherent in the teleoperation of an underwater manipulator system effectively. In response to uncertainties stemming from both the mathematical model and external...
In practice, most industrial robot manipulators use PID (Proportional + Integral + Derivative) controllers, thanks to their simplicity and adequate performance under certain conditions. Normally, this type of controller has a good performance in task...
This paper presents a control framework that integrates adaptive sliding mode control (ASMC), time-delay control (TDC), and admittance filtering to achieve robust force and position tracking in robot manipulators. TDC is employed to estimate unmodele...
In nuclear power plants (NPP), dismantling is the most technically involved process during their life time. During the dismantling process, public safety must be ensured. In crisis situations, a remotely controlled robot system is needed for the dism...
When a robot performs a grinding operation, the steady-state force/position tracking accuracy of its end-effector is critical to achieving high grinding quality. To solve this problem, a fuzzy adaptive impedance method is incorporated into the robot&...
Equipped with one degree of freedom in one-dimensional translation of the base, a mobile dual-arm robot (MDAR) is proposed in this paper, and the two arms and the base move simultaneously. As a result, the motion of the base has a significant influen...
This paper presents a unified control scheme of the Pendubot based on nonlinear model predictive control (NMPC) and nonlinear moving horizon estimation (NMHE) with the objective of point-to-point tracking its unstable unforced and ultimately forced e...
To enhance the tracking accuracy and compliance of unmanned excavators, a force–position heterogeneous dual-loop nested cooperative control strategy is proposed. The outer loop employs admittance control to establish a dynamic mapping between c...
This study aims to resolve the problems of low precision, poor flexibility and unstable operation in the control performance of loading robots with long telescopic booms and heavy loads. Firstly, the kinematics and dynamics of long-arm heavy-duty rob...
High-precision and low-overshoot force control are important to guarantee the material removal rate and surface quality of robot grinding. However, traditional force control methods are subjected to positional disturbance, stiffness disturbance, cont...
Multi-cable cooperative control is essential for cable-driven space manipulators to achieve in-orbit services such as fault spacecraft maintenance, fuel injection, on-orbit assembly, and orbital garbage removal. To prevent the cables from becoming sl...
In order to satisfy the requirement of the automatic ultrasonic strengthening of an aviation blade surface, this paper puts forward a robotic compliance control strategy of contact force for ultrasonic surface strengthening. By building the force/pos...
Legged agricultural transportation robots are efficient tools that can autonomously transport goods over agricultural terrain, and their introduction helps to improve the efficiency and quality of agricultural production. Their effectiveness depends...
In this paper, an algebraic approach for the finite-time feedback control problem is provided for second-order systems where only the second-order derivative of the controlled variable is measured. In practice, it means that the acceleration is the o...
To improve the quality and efficiency of robot grinding, a design and a control algorithm for a robot used for grinding the surfaces of large, curved workpieces with unknown parameters, such as wind turbine blades, are proposed herein. Firstly, the s...
This study introduces a reduced-order leg dynamic model to simplify the controller design and enhance robustness. The proposed multi-loop control scheme tackles tracking control issues in legged robots, including joint angle and contact-force regulat...
Currently, the main solution for braking systems for underground electric trackless rubber-tired vehicles (UETRVs) is traditional hydraulic braking systems, which have the disadvantages of hydraulic pressure crawling, the risk of oil leakage and a hi...
Active prosthetic knees (APKs) are widely used in the past decades. However, it is still challenging to make them more natural and controllable because: (1) most existing APKs that use rigid actuators have difficulty obtaining more natural walking; a...
To address contact force estimation and compliant control for biomimetic robotic arms interacting with uncertain environments, an adaptive variable-damping impedance control method based on a fuzzy-controlled forgetting-factor strong tracking Kalman...
Force tracking control for hydraulic series elastic actuators (SEAs) is the demand in robots interacting with the surrounding world. However, the inherent nonlinearities and uncertainties of the hydraulic system, as well as the unknown environment, m...
In this paper, the trajectory planning and position/force coordination control of multi-robot systems during the welding process are discussed. Trajectory planning is the basis of the position/ force cooperative control, an object-oriented hierarchic...
The motion synchronization of the hybrid actuation system (composed of a servo-hydraulic actuator and an electro-mechanical actuator) is very important for all applications, especially for civil aircraft. The current research presents a nested-loop c...
Hybrid pneumatic–electric actuators (HPEAs) are redundant actuators that combine the large force, low bandwidth characteristics of pneumatic actuators with the large bandwidth, small force characteristics of electric actuators. It has been show...
Sliding mode control is a robust technique that is used to overcome difficulties such as parameter variations, unmodeled dynamics, external disturbances, and payload changes in the position-tracking problem regarding robots. However, the selection of...
Based on the traditional control approach, the position-tracking performance of the teleoperation system with communication delay is generally asymptotically stable. In practical applications, the closed-loop system is expected to achieve stable and...
The on-orbit operation of insertion and extraction of space robots is a technology essential to the assembly and maintenance in orbit, satellite fuel filling, failed satellite recovery, especially modular in-orbit assembly of micro-spacecraft. Theref...
A robust trajectory tracking control scheme for quadrotor unmanned aircraft vehicles under uncertainties is proposed herein. A tracking controller combined with the sliding mode and integral backstepping is performed for position and attitude trackin...
The performances of position synchronization and force interaction of the teleoperation system provide a safe and efficient way for operators to perform tasks in remote, hazardous environments. In practice, however, communication delays and dynamic u...
This paper proposes a novel bilateral control design based on an estimated reaction force without a force sensor for a three-degree of freedom hydraulic servo system with master–slave manipulators. The proposed method is based upon sliding mode...
In existing methods, full-state feedback is required for the position tracking of single-rod Electro Hydrostatic Actuators (EHAs). Measuring a full state is not always possible because of cost and space limitations. Furthermore, measurement noise fro...
Owing to its large flexible envelope, an airship is highly sensitive to environmental disturbances, such as wind gusts. Fluid–structure interaction induces structural deformation, which modifies the aerodynamic force distribution and introduces...
This paper presents a positioning control method for underactuated unmanned surface vehicles (USVs) subject to environmental disturbances and wave-contaminated measurements. In underactuated dynamic positioning, surge motion and yaw motion can be dir...
Achieving high-precision and highly adaptive leg joint control is a formidable challenge for hydraulic quadruped robots, owing to their dynamic uncertainties, nonlinearities, and frequent contact events. This paper proposes an event-based active comp...
To address the issues of model uncertainties and external disturbances in path tracking control, a gain-scheduled adaptive Tube-NMPC algorithm is proposed. Tube robust constraints are incorporated into the NMPC framework to enhance disturbance reject...
This paper proposes a hybrid position–force control strategy for overconstrained cable-driven parallel robots (CDPRs). Overconstrained CDPRs have more cables (m) than degrees of freedom (n), and the idea of the proposed controller is to control...
This research presents a hybrid geometric computed torque control method for an aerial manipulation system composed of a quadrotor UAV and a 2-DOF planar manipulator. The fully coupled system’s dynamic model is derived following the Euler&ndash...
This paper presents a new sinusoidal position-tracking control scheme with a resonant controller for linear motor drive systems. The sinusoidal tracking controller is designed without any added algorithm for system identification and requires only ap...
This paper addresses the force-tracking problem of aerospace electro-hydraulic load simulators under the influence of high inertia, large loads, and a strong coupling force disturbance. An accurate mathematical model is initially derived to describe...
This study presents LPV H∞ control with an augmented nonlinear observer (ANOB) to improve both the position and yaw tracking errors for Sawyer motors. The proposed control method consists of the forces and torque modulation scheme, an ANOB, and...
This paper proposes the force/torque control strategy for the robotized transcranial magnetic stimulation (TMS) system, considering the shape of the TMS coil case. Hybrid position/force control is used to compensate for the error between the current...
Passive rehabilitation training in the early poststroke period can promote the reshaping of the nervous system. The trajectory should integrate the physicians’ experience and the patient’s characteristics. And the training should have hig...
In practice, the time-varying communication delays and actuator failures are the main inevitable issues in nonlinear multilateral teleoperation systems, which can reduce the performance and stability of the considered systems. This article proposed a...
In recent years, with the development of the permanent magnet linear synchronous motor (PMLSM), the application of PMLSM has not been limited only to the high-end equipment field; the primary stator discontinuous segmented-PMLSM (DSPMLSM), which cons...
The Lunar Gravity Compensation Facility (LGCF) is a critical component in ground tests for a crewed lunar roving vehicle (CLRV). The track-following servo subsystem’s performance is of critical importance in the LGCF, as it needs to achieve hig...
Impedance control is a classic and straightforward control method that finds wide applications in various fields. However, traditional constant impedance control requires prior knowledge of the environment’s stiffness and position information....
At the field of nanometer positioning and machining, high-precision tracking is a key technology of the micro-positioning platform which is driven by a voice coil motor. To improve the tracking accuracy and response speed, the sliding-mode active dis...
Recently, VR-based training applications have become popular and promising, as they can simulate real-world situations in a safe, repeatable, and cost-effective way. For immersive simulations, various input devices have been designed and proposed to...
Achieving safe physical interaction on the human back is challenging due to respiratory rhythms, complex topography, and varying tissue stiffness. To enable compliant force tracking within commercial closed position-control robot architectures, this...
The paper focuses on the issue of collaborative control of a two quadrotor (Unmanned Aerial Vehicle QDR) system. In particular, two quadrotors perform the task of horizontally transporting a long payload along a predefined trajectory. A leader–...
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