Browsing by Keyword "Force control"
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Item A generalized predictive force controller for electropneumatic cylinders(IFAC Secretariat, 2010) Chikh, Lotfi; Poignet, Philippe; Pierrot, François; Michelin, Micäel; Tecnalia Research & InnovationIs it possible to synthesize an easy-to-implement predictive force controller for electropneumatic cylinders? In this paper, this problem is treated in details. As an electropneumatic cylinder is a highly nonlinear actuator, our strategy is based on the precise nonlinear modeling of the actuator and the application of a feedback linearization strategy. This enables to have an equivalent linearized model and therefore, to find an explicit solution of the predictive optimization problem. The obtained controller is then an easy-to-implement one and the number of control parameters is very reduced: the weighting coefficient and the prediction horizon. Experimental results prove the availability of this control approach and good performances in terms of capacity of tracking long duration static forces of high amplitudes.Item Path Driven Dual Arm Mobile Co-Manipulation Architecture for Large Part Manipulation in Industrial Environments(2021-10-05) Ibarguren, Aitor; Daelman, Paul; Tecnalia Research & Innovation; ROBOTICA_AUTOMACollaborative part transportation is an interesting application as many industrial sectors require moving large parts among different areas of the workshops, using a large amount of the workforce on this tasks. Even so, the implementation of such kinds of robotic solutions raises technical challenges like force-based control or robot-to-human feedback. This paper presents a path-driven mobile co-manipulation architecture, proposing an algorithm that deals with all the steps of collaborative part transportation. Starting from the generation of force-based twist commands, continuing with the path management for the definition of safe and collaborative areas, and finishing with the feedback provided to the system users, the proposed approach allows creating collaborative lanes for the conveyance of large components. The implemented solution and performed tests show the suitability of the proposed architecture, allowing the creation of a functional robotic system able to assist operators transporting large parts on workshops.