Force Feedback and Path Following using Predictive Control: Concept and Application to a Lightweight Robot

摘要

In many robotic applications, a predefined path must be followed while maintaining contact with a surface or applying a given force. If size, position, or flexibility of the surface are not known precisely, pure position tracking control of the robotic manipulators is not sufficient. A new model-based control approach to tackle this problem is proposed, combining predictive path following and direct force control. The approach allows the manipulator to precisely follow a path while explicitly maintaining a desired force. It enables to directly take constraints on both the position and force into account to meet safety and quality requirements. Sufficient conditions are derived for convergence to and movement along the path while satisfying constraints. A proof-of-concept implementation of the methodological framework is presented for a lightweight robot.