A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm
The authors propose a comparison between two force-position controllers with gravity compensation simulated on the DEXTER bioinspired robotic arm. The two controllers are both constituted by an internal proportional-derivative (PD) closed-loop for the position control. The force control of the two s...
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| Format: | Article |
| Language: | English |
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Wiley
2013-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2013/256364 |
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| author | Giovanni Gerardo Muscolo Kenji Hashimoto Atsuo Takanishi Paolo Dario |
| author_facet | Giovanni Gerardo Muscolo Kenji Hashimoto Atsuo Takanishi Paolo Dario |
| author_sort | Giovanni Gerardo Muscolo |
| collection | DOAJ |
| description | The authors propose a comparison between two force-position controllers with gravity compensation simulated on the DEXTER bioinspired robotic arm. The two controllers are both constituted by an internal proportional-derivative (PD) closed-loop for the position control. The force control of the two systems is composed of an external proportional (P) closed-loop for one system (P system) and an external proportional-integrative (PI) closed-loop for the other system (PI system). The simulation tests performed with the two systems on a planar representation of the DEXTER, an eight-DOF bioinspired arm, showed that by varying the stiffness of the environment, with a correct setting of parameters, both systems ensure the achievement of the desired force regime and with great precision the desired position. The two controllers do not have large differences in performance when interacting with a lower stiffness environment. In case of an environment with greater rigidity, the PI system is more stable. The subsequent implementation of these control systems on the DEXTER robotic bioinspired arm gives guidance on the design and control optimisation of the arms of the humanoid robot named SABIAN. |
| format | Article |
| id | doaj-art-46d848fbf593489db1343756e9038c92 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2013-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-46d848fbf593489db1343756e9038c922025-02-03T01:13:01ZengWileyJournal of Robotics1687-96001687-96192013-01-01201310.1155/2013/256364256364A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid ArmGiovanni Gerardo Muscolo0Kenji Hashimoto1Atsuo Takanishi2Paolo Dario3R&D Department, Creative Design Laboratory, Humanot s.r.l., via Modigliani 7-59100 Prato, ItalyDepartment of Modern Mechanical Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, JapanDepartment of Modern Mechanical Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, JapanThe BioRobotics Institute, Scuola Superiore Sant’Anna, Viale Rinaldo Piaggio 34, 56025 Pontedera, ItalyThe authors propose a comparison between two force-position controllers with gravity compensation simulated on the DEXTER bioinspired robotic arm. The two controllers are both constituted by an internal proportional-derivative (PD) closed-loop for the position control. The force control of the two systems is composed of an external proportional (P) closed-loop for one system (P system) and an external proportional-integrative (PI) closed-loop for the other system (PI system). The simulation tests performed with the two systems on a planar representation of the DEXTER, an eight-DOF bioinspired arm, showed that by varying the stiffness of the environment, with a correct setting of parameters, both systems ensure the achievement of the desired force regime and with great precision the desired position. The two controllers do not have large differences in performance when interacting with a lower stiffness environment. In case of an environment with greater rigidity, the PI system is more stable. The subsequent implementation of these control systems on the DEXTER robotic bioinspired arm gives guidance on the design and control optimisation of the arms of the humanoid robot named SABIAN.http://dx.doi.org/10.1155/2013/256364 |
| spellingShingle | Giovanni Gerardo Muscolo Kenji Hashimoto Atsuo Takanishi Paolo Dario A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm Journal of Robotics |
| title | A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm |
| title_full | A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm |
| title_fullStr | A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm |
| title_full_unstemmed | A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm |
| title_short | A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm |
| title_sort | comparison between two force position controllers with gravity compensation simulated on a humanoid arm |
| url | http://dx.doi.org/10.1155/2013/256364 |
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