Adaptive enhanced admittance force-tracking controller design for highly dynamic interactive tasks

摘要

Purpose As more and more robots are used in industry, it is necessary for robots to interact with high dynamic environments. For this reason, the purpose of this research is to form an excellent force controller by considering the transient contact force response, overshoot and steady-state force-tracking accuracy. Design/methodology/approach Combining the active disturbance rejection control (ADRC) and the adaptive fuzzy PD controller, an enhanced admittance force-tracking controller framework and a well-designed control scheme are proposed. Tracking differentiator balances the contradiction between inertia and jump control signal of the control object. Kalman filter and extended state observer are introduced to obtain purer feedback force signal and uncertainty compensation. Adaptive fuzzy PD controller is introduced to account for transient and steady state performance of the system. Findings The proposed controller has achieved successful results through simulation and actual test of 6-axis robot with minimum error. Practical implications The controller is simple and practical in real industrial scenarios, where force control by robots is required. Originality/value In this research, a new practical force control algorithm is proposed to guarantee the performance of the force controller for robots interacting with high dynamic environments.