Novel Algorithm for Effective Position/Force Control

DOI Web Site 3 References
  • Uzunovic Tarik
    Faculty of Electrical Engineering, University of Sarajevo
  • Sabanovic Asif
    Faculty of Engineering and Natural Sciences, International University of Sarajevo
  • Yokoyama Minoru
    Department of Physics, Electrical and Computer Engineering, Graduate School of Engineering Yokohama National University
  • Shimono Tomoyuki
    Faculty of Engineering Division of Intelligent Systems Engineering, Yokohama National University

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Abstract

<p>This paper presents a novel algorithm for simultaneous position and interaction force control. In the classical algorithms, position and force control are executed concurrently by switching between two separate controllers: the position and force controller. Thus, one can consider the control system working in two modes, namely the position control and force control modes. Switching between these two modes often leads to oscillations in the controlled position and force. Therefore, the safe interaction between a controlled mechanical system and its environment is jeopardized. The above issues are tackled in this study by introducing a new control strategy. The proposed algorithm combines position and force control into a single controller, in which the transition between position and force control is smooth, removing the oscillations of classical methods. Therefore, the safe interaction between a mechanical system and its environment is enabled. In addition, using this method one can equip actuators with a control system capable of performing both position and force control. Thus, a step towards “smart actuators” is possible.</p>

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