کنفرانس مهندسی برق ایران

صفحه اصلی / سی و سومین کنفرانس بین المللی مهندسی برق

External Force Control with Disturbance Rejection for 6 DoF Manipulator

نویسندگان :

Zahra Bonakdar¹ Arefe Hamidipour² Hamed Ghafarirad³

1- دانشگاه صنعتی امیرکبیر (پلی تکنیک تهران) 2- دانشگاه صنعتی امیرکبیر (پلی تکنیک تهران) 3- دانشگاه صنعتی امیرکبیر (پلی تکنیک تهران)

کلمات کلیدی :

observer-based control،force control،disturbance rejection،industrial manipulators،KUKA robot

چکیده :

Given the widespread use of manipulators in industry, controlling their performance in interaction with the environment is essential. One example of a manipulator is the KUKA KR 16, used in various industries for object manipulation and drilling tasks. As a result, force control exerted by the robot becomes crucial. Considering that industrial environments often involve disturbances and noise, the need for control becomes prominent in the presence of disturbances. This research aims to control the external force of the KUKA KR 16 robot despite environmental disturbances. An observer is first designed to identify disturbances in the environment. A disturbance-free dynamic system can be obtained by eliminating these disturbances from the system dynamics. Subsequently, a suitable force controller is designed for the disturbance-free dynamic, allowing the robot to apply the desired force. Therefore, unknown environmental disturbances can be identified and removed from the system dynamics using the observer. Afterward, a controller is designed to follow the desired force accurately. MATLAB simulation results show that the observer performs effectively for time-varying disturbances, and the desired force is successfully tracked. This research advances force control for industrial robots operating in challenging environments.