Comparison of Levant Differentiator and GPI Observer for the Position/force Control Robotic Manipulator Interacting with Rigid Surfaces in Presence of Friction

Resumen: The problem of hybrid position/force control over rigid surfaces in presence of friction when only joint position and force measurements are available is considered. To achieve tracking in this scheme it is commonly assumed that the contact force on the robot and the angular velocity are measured. Nevertheless, in some applications it is convenient to remove sensors for a variety of reasons: to reduce costs, the weight of the robot, the size, etc. In this work, a Levant{dierentiator approach is used to estimate velocity in order to achieve position tracking for the non{delayed scenario but with force measurement. To achieve this objective, a comparison with a dynamic extension and a highgain observer were employed, which jointly are known in the literature as Generalized Proportional Integral (GPI) observers. The GPI observer allows, besides simultaneous estimation of the robot joint velocity and the contact force over the environment. In other words, the proposed algorithm achieves movement of the robot over the surface and simultaneous application of a force desired, while at the same time it performs an estimation of the velocity and force signals. Another interesting problem is the force control over an known rigid surface, even in the case when position and force are measured. There are some advantages in using the Levant differentiator such as improved tracking position without the knowledge of the robot dynamic model for implementation.

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Lauro Fernando Vázquez–Alberto & Marco Antonio Arteaga–Pérez. Comparison of Levant Differentiator and GPI Observer for the Position/force Control Robotic Manipulator Interacting with Rigid Surfaces in Presence of Friction. Memorias del Congreso Nacional de Control Automático, pp. 431-436, 2019.

Palabras clave

Robótica y Mecatrónica, Sistemas Electromecánicos, Control Clásico

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