Methods for robotic manipulator force control in virtual environment systems

Е.V. Strashnov, M.V. Mikhaylyuk


The paper considers the task of virtual robotic manipulator control with force feedback in virtual environment systems. To solve it, an approach is proposed in which the robot force control is based on the readings of virtual force sensors and the methods for calculating and constructing functional diagrams consisting of various type blocks. Within the framework of this approach the robot force control is realized by constructing a proportional-integral controller (PI controller) with the help of a functional diagram regarding the residual value between the desired and measured values of forces and moments that act on the robot end effector.

The solutions proposed in the paper are implemented in a software package designed for simulation and control of virtual robots. The approbation results in this complex on the example of anthropomorphic robot control have shown that with the help of the proposed solutions, it is possible to effectively perform complex technological operations in which an anthropomorphic robot interacts with objects of the virtual environment.

Full Text:

PDF (Russian)


Е.I. Yurevich, Basics of Robotics. 2nd ed. Saint Petersburg: BHV, 2005.

B. Siciliano and L. Villani, Robot force control. Norwell, MA: Kluwer, 1999.

M.W. Spong and M. Vidyasagar, Robot dynamics and control. John Wiley & Sons, 2008.

R. Murray, Z. Li, and S. Sastry, A mathematical introduction to robotic manipulation. CRC Press, 1994.

I. Cervantes, and J. Alvarerz-Ramirez, “On the PID tracking control of robot manipulators,” Syst. Control Lett., vol. 42, pp. 37-46, 2001.

H. Vicente, H. Ayala, and D. S. Coelho, “Tuning of PID controller based on a multiobjective genetic algorithm applied to a robotic manipulator,” Expert Syst. Appl., vol. 39, no. 10, pp. 8968–8974, 2012.

W. M. Tang, G. Chen, and R. D. Lu, “A modified fuzzy PI controller for a flexible-joint robot arm with uncertainties,” Int. J. Fuzzy Sets Syst., vol. 118, pp. 109–119, 2001.

J. Moreno-Valenzuela and V. Santibanez, “Robust saturated PI joint velocity control for robot manipulators,” Asian J. Control, vol. 15, no. 1, pp. 64–79, 2013.

M.V. Mikhaylyuck, D.V. Omelchenko, and E.V. Strashnov, “Command and supervisory modes for virtual robot control,” Proceeding in cybernetics, No. 4, pp. 79-84, 2016.

E.V. Strashnov, M.V. Mikhaylyuck, “Simulation of semi-automatic control of manipulator robots in virtual environment systems,” Proceeding in cybernetics, No. 4, pp. 191-198, 2017.

М.А. Torgashev, “Modeling of anthropomorphic robots’ copying control in a virtual environment,” Proceedings of NIISI RAS, Vol. 5, No. 2, pp. 47-54, 2015.

C.W. Borst, and A.P. Indugula, “Realistic virtual grasping”. IEEE Virtual Reality, 2005.

S. Carpin, M. Lewis, J. Wang, S. Balakirsky, and C. Scrapper, “USARSim: A robot simulator for research and education,” in Proc. IEEE Conf. Robotics Automation, Piscataway, NJ, 2007, pp. 1400–1405.

N. Koenig and A. Howard, “Design and use paradigms for Gazebo, an open-source multi-robot simulator,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, Sep 2004, pp. 2149–2154.

E. Rohmer, S. P. N. Singh, and M. Freese, “V-REP: A versatile and scalable robot simulation framework,” in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Tokyo, Japan, 2013, pp. 1321–1326.

O. Michel, “Webots: Professional mobile robot simulation,” International Journal of Advanced Robotic Systems, vol. 1, no. 1, pp. 39–42, 2004.

M.V. Mikhaylyuck, and М.А. Torgashev, “The visual editor and calculation module of block diagrams for simulation and training complexes,” Software products and systems, No. 4, pp. 10-15, 2014.

M.V. Mikhaylyuck, E.V. Strashnov, and D.M. Loginov, “Sensors simulation in virtual environment systems,” Proceedings of NIISI RAS, Vol. 8, No. 2, pp. 70-76, 2018.

E.V. Strashnov, and М.А. Torgashev, “Simulation of actuator dynamics virtual robots in training complexes,” Mechatronics, automation, control, Vol. 17, No. 11, pp. 762-768, 2016.

А.А. Samarskiy, and А.V. Gulin, Numerical methods. Moscow: Science, 1989, 432 p.


  • There are currently no refbacks.

Abava  Absolutech IT-EDU 2019

ISSN: 2307-8162