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Stability-Guaranteed Force-Sensorless Contact Force/Motion Control of Heavy-Duty Hydraulic Manipulators

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Stability-Guaranteed Force-Sensorless Contact Force/Motion Control of Heavy-Duty Hydraulic Manipulators. / Koivumäki, Janne; Mattila, Jouni.

In: IEEE Transactions on Robotics, Vol. 31, No. 4, 01.08.2015, p. 918-935.

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Koivumäki, Janne ; Mattila, Jouni. / Stability-Guaranteed Force-Sensorless Contact Force/Motion Control of Heavy-Duty Hydraulic Manipulators. In: IEEE Transactions on Robotics. 2015 ; Vol. 31, No. 4. pp. 918-935.

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@article{fcefb3a4f55c4f93aa0046c3b79458d6,
title = "Stability-Guaranteed Force-Sensorless Contact Force/Motion Control of Heavy-Duty Hydraulic Manipulators",
abstract = "In this paper, a force-sensorless high-performance contact force/motion control approach is proposed for multiple-degree-of-freedom hydraulic manipulators. A rigorous stability proof for an entire hydraulic manipulator performing contact tasks is provided for the first time. The controller design for the manipulator is based on the recently introduced virtual decomposition control approach. As a significant novelty, the end-effector contact force is directly estimated from the manipulator's cylinder pressure data, which provides a practical solution for heavy-duty contact force control without engaging fragile force/torque sensors. In the experiments, the proposed controller achieved a force control accuracy of 4.1{\%} at a desired contact force of 8000 N while in motion. This can be considered a significant result due to the hydraulic actuators' highly nonlinear behaviors, the coupled mechanical linkage dynamics, and the complex interaction dynamics between the manipulator and the environment.",
keywords = "Contact force estimation, contact force/motion control, hydraulic manipulators, nonlinear model-based control, stability analysis, virtual decomposition control (VDC)",
author = "Janne Koivum{\"a}ki and Jouni Mattila",
year = "2015",
month = "8",
day = "1",
doi = "10.1109/TRO.2015.2441492",
language = "English",
volume = "31",
pages = "918--935",
journal = "IEEE Transactions on Robotics",
issn = "1552-3098",
publisher = "Institute of Electrical and Electronics Engineers",
number = "4",

}

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TY - JOUR

T1 - Stability-Guaranteed Force-Sensorless Contact Force/Motion Control of Heavy-Duty Hydraulic Manipulators

AU - Koivumäki, Janne

AU - Mattila, Jouni

PY - 2015/8/1

Y1 - 2015/8/1

N2 - In this paper, a force-sensorless high-performance contact force/motion control approach is proposed for multiple-degree-of-freedom hydraulic manipulators. A rigorous stability proof for an entire hydraulic manipulator performing contact tasks is provided for the first time. The controller design for the manipulator is based on the recently introduced virtual decomposition control approach. As a significant novelty, the end-effector contact force is directly estimated from the manipulator's cylinder pressure data, which provides a practical solution for heavy-duty contact force control without engaging fragile force/torque sensors. In the experiments, the proposed controller achieved a force control accuracy of 4.1% at a desired contact force of 8000 N while in motion. This can be considered a significant result due to the hydraulic actuators' highly nonlinear behaviors, the coupled mechanical linkage dynamics, and the complex interaction dynamics between the manipulator and the environment.

AB - In this paper, a force-sensorless high-performance contact force/motion control approach is proposed for multiple-degree-of-freedom hydraulic manipulators. A rigorous stability proof for an entire hydraulic manipulator performing contact tasks is provided for the first time. The controller design for the manipulator is based on the recently introduced virtual decomposition control approach. As a significant novelty, the end-effector contact force is directly estimated from the manipulator's cylinder pressure data, which provides a practical solution for heavy-duty contact force control without engaging fragile force/torque sensors. In the experiments, the proposed controller achieved a force control accuracy of 4.1% at a desired contact force of 8000 N while in motion. This can be considered a significant result due to the hydraulic actuators' highly nonlinear behaviors, the coupled mechanical linkage dynamics, and the complex interaction dynamics between the manipulator and the environment.

KW - Contact force estimation

KW - contact force/motion control

KW - hydraulic manipulators

KW - nonlinear model-based control

KW - stability analysis

KW - virtual decomposition control (VDC)

UR - http://www.scopus.com/inward/record.url?scp=84939173864&partnerID=8YFLogxK

U2 - 10.1109/TRO.2015.2441492

DO - 10.1109/TRO.2015.2441492

M3 - Article

VL - 31

SP - 918

EP - 935

JO - IEEE Transactions on Robotics

JF - IEEE Transactions on Robotics

SN - 1552-3098

IS - 4

ER -