Synthesis and Simulation of Biotechnical Position-Force Control System of a Robot Manipulator with Reconfigurable Structure

被引：3
|
作者：
Rostova, Ekaterina N. [1 ]
Rostov, Nikolay V. [2 ]
Sobolevsky, Vladislav A. [1 ]
机构：
[1] Russian Acad Sci, St Petersburg Inst Informat & Automat, 14th Line VO 39, St Petersburg 199178, Russia
[2] Peter Great St Petersburg Polytech Univ, Polytech Skaya Str 29, St Petersburg 195251, Russia
来源：
IFAC PAPERSONLINE | 2019年 / 52卷 / 13期
基金：
俄罗斯基础研究基金会;
关键词：
robot-manipulator; biotechnical system; human operator; semi-automatic control system; position-force control; synthesis of algorithms; computer simulation;
D O I：
10.1016/j.ifacol.2019.11.342
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The synthesis of open-loop and closed-loop position and force control algorithms for a semiautomatic control system of a robot-manipulator has been performed. Computer models have been developed for a position-force control system with reconfigurable structure for a robot performing standard operations set by a human operator with a 3-degree-of-freedom handle Animated computer simulation of dynamic processes in a system with different control algorithms has been performed and their precision characteristics have been evaluated. Some practical recommendations are given on the application of the achieved results for the development of training simulators for human supervisors of robot control systems. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：1097 / 1101
页数：5
相关论文
共 50 条
  • [1] Robust position-force control of robot manipulator in contact with linear dynamic environment
    Karan, B
    ROBOTICA, 2005, 23 : 799 - 803
  • [2] Structural Analysis and Animated Simulation of Biotechnical Position-Velocity Control System of a Robot-Manipulator
    Rostova, Ekaterina
    Rostov, Nikolay
    Sokolov, Boris
    INTERACTIVE COLLABORATIVE ROBOTICS, ICR 2018, 2018, 11097 : 222 - 232
  • [3] Multibehavioral position-force manipulator controller
    Winiarski, Tomasz
    Banachowicz, Konrad
    Walccki, Michal
    Bohren, Jonathan
    2016 21ST INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS (MMAR), 2016, : 651 - 656
  • [4] Structure of system position-force control of the drive Stewart platform
    Egorov, I. N.
    Shevtsov, D. S.
    XII INTERNATIONAL SYMPOSIUM INTELLIGENT SYSTEMS 2016, (INTELS 2016), 2017, 103 : 517 - 521
  • [5] Position-force control of mobile manipulator - nonadaptive and adaptive case
    Kaczmarek, Mirela
    Domski, Wojciech
    Mazur, Alicja
    ARCHIVES OF CONTROL SCIENCES, 2017, 27 (04): : 487 - 503
  • [6] Position-force control of nonholonomic mobile manipulator with simple holonomic constraint
    Mazur, Alicja
    Frontkiewicz, Mirela
    Domski, Wojciech
    2015 10TH INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL (ROMOCO), 2015, : 257 - 262
  • [7] Switched position-force tracking control of a manipulator interacting with a stiff environment
    Heck, D. J. F.
    Saccon, A.
    van de Wouw, N.
    Nijmeijer, H.
    2015 AMERICAN CONTROL CONFERENCE (ACC), 2015, : 4832 - 4837
  • [8] DESIGN AND SIMULATION OF BIOTECHNICAL MULTIDIMENSIONAL MOTION CONTROL SYSTEMS OF A ROBOT MANIPULATOR
    Rostova, Ekaterina
    Rostov, Nikolay
    Sobolevsky, Vladislav
    Zakharov, Valerii
    PROCEEDINGS OF THE 33RD INTERNATIONAL ECMS CONFERENCE ON MODELLING AND SIMULATION (ECMS 2019), 2019, 33 (01): : 145 - 150
  • [9] A Smooth Position-Force Controller for Asbestos Removal Manipulator
    El Dine, Kamal Mohy
    Corrales-Ramon, Juan-Antonio
    Mezouar, Youcef
    Fauroux, Jean-Christophe
    2017 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE ROBIO 2017), 2017, : 1312 - 1319
  • [10] A versatile door opening system with mobile manipulator through adaptive position-force control and reinforcement learning
    Kang, Gyuree
    Seong, Hyunki
    Lee, Daegyu
    Shim, David Hyunchul
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2024, 180
12345