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| | Julio Antonio Caballero-Mora1,3,Rogelio de Jesús Portillo-Vélez1,et al.[en_title][J].Control Theory and Technology,2025,23(3):494~512.[Copy] |
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| Admittance-based robot force control without velocity and force sensors |
| JulioAntonioCaballero-Mora1,3,RogeliodeJesúsPortillo-Vélez1,2,4,JoséAlejandroVásquez-Santacruz1,2,AlexandroLópez-González3,EduardoGamalielHernández-Martínez4 |
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| (1 Facultad de Ingeniería de la Construcción y el Hábitat, Universidad Veracruzana, Ruiz Cortines, 455, 94294 Boca del Río, Veracruz, Mexico
3 Departamento de Estudios en Ingeniería para la Innovación, Universidad Iberoamericana, Prolongación Paseo de Reforma, 880, 01219 Mexico City, Mexico City, Mexico;2 Facultad de Ingeniería Eléctrica y Electrónica, Universidad Veracruzana, Ruiz Cortines, 455, 94294 Boca del Río, Veracruz, Mexico
4 Instituto de Investigación Aplicada y Tecnología, Universidad Iberoamericana, Prolongación Paseo de Reforma, 880, 01219 Mexico City, Mexico City, Mexico) |
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| 摘要: |
| Force control merged with motion control represent the fundamental low level requirements for the most complex tasks to be
performed by any robot. In particular, robust motion and force controllers allow robots to deal with real-world uncertainties
among other disturbances. In this paper, an admittance-based force controller using the Active Disturbance Rejection Control
approach is proposed, which allows to perform robot force control without a force sensor. In addition, a theoretical synthesis of
the control law including an extended state observer for the estimation of the robot–surface force interaction and their formal
stability analysis is presented. The validation of the proposal is depicted by numerical simulations using the dynamical model
of a two degrees of freedom robot manipulator, for both a constant and a time-varying force control tasks with an unknown
curved surface, while considering joint measurement noise and force sensors noise and an external disturbance force. |
| 关键词: ADRC · Observer · Force control · Admittance |
| DOI：https://doi.org/10.1007/s11768-025-00280-8 |
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| 基金项目:Julio Antonio Caballero-Mora acknowledges the CONAHCYT Scholarship number 828530 and also thanks the collaborators of the Robotics Laboratory of Universidad Veracruzana at Boca del Río, Veracruz, Mexico, and the Department of Studies of Engineering for Innovation of Universidad Iberoamericana, CDMX, Mex. Also thanks to Dr. Mario Ramirez-Neria for the invitation to get involved in this project and theory. Rogelio de Jesús Portillo-Vélez acknowledges support from Universidad Veracruzana due to the sabbatical license. |
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| Admittance-based robot force control without velocity and force sensors |
| Julio Antonio Caballero-Mora1,3,Rogelio de Jesús Portillo-Vélez1,2,4,José Alejandro Vásquez-Santacruz1,2,Alexandro López-González3,Eduardo Gamaliel Hernández-Martínez4 |
| (1 Facultad de Ingeniería de la Construcción y el Hábitat, Universidad Veracruzana, Ruiz Cortines, 455, 94294 Boca del Río, Veracruz, Mexico
3 Departamento de Estudios en Ingeniería para la Innovación, Universidad Iberoamericana, Prolongación Paseo de Reforma, 880, 01219 Mexico City, Mexico City, Mexico;2 Facultad de Ingeniería Eléctrica y Electrónica, Universidad Veracruzana, Ruiz Cortines, 455, 94294 Boca del Río, Veracruz, Mexico
4 Instituto de Investigación Aplicada y Tecnología, Universidad Iberoamericana, Prolongación Paseo de Reforma, 880, 01219 Mexico City, Mexico City, Mexico) |
| Abstract: |
| Force control merged with motion control represent the fundamental low level requirements for the most complex tasks to be
performed by any robot. In particular, robust motion and force controllers allow robots to deal with real-world uncertainties
among other disturbances. In this paper, an admittance-based force controller using the Active Disturbance Rejection Control
approach is proposed, which allows to perform robot force control without a force sensor. In addition, a theoretical synthesis of
the control law including an extended state observer for the estimation of the robot–surface force interaction and their formal
stability analysis is presented. The validation of the proposal is depicted by numerical simulations using the dynamical model
of a two degrees of freedom robot manipulator, for both a constant and a time-varying force control tasks with an unknown
curved surface, while considering joint measurement noise and force sensors noise and an external disturbance force. |
| Key words: ADRC · Observer · Force control · Admittance |
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