A Motion-impedance-force Controller for Uncertain Robotic Systems

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dc.authorid0000-0002-2783-9354
dc.authorid0000-0002-6300-061X
dc.authorid0000-0002-9170-0015
dc.contributor.authorBaran, Eray A.
dc.contributor.authorUzunovic, Tarik
dc.contributor.authorOzcelik, I. Turac
dc.contributor.authorDzakmic, Sejla
dc.contributor.authorSabanovic, Asif
dc.date.accessioned2026-04-04T18:55:25Z
dc.date.available2026-04-04T18:55:25Z
dc.date.issued2025
dc.departmentİstanbul Bilgi Üniversitesi
dc.description.abstractOver the last decades, issues related to the impedance and the force control and their integration with motion control for uncertain plants are attracting considerable interest. This paper discusses a controller that can realize these three control strategies without changing the structure or the controller parameters. The proposed controller can simultaneously achieve motion tracking, compliance with a desired impedance during interaction, and pure force control when regulating interaction forces. A key feature of the controller is its ability to smoothly alternate between these modes in unstructured environments, without requiring a mode recognition mechanism. The detailed controller design incorporates operational space dynamics, enabling dynamic adjustment of control strategies based on both position and force tracking errors. This approach provides a robust and flexible solution for robotic systems operating in environments with varying levels of uncertainty and interaction force demands. Simulations and experimental results demonstrate the effectiveness and robustness of the proposed system in achieving high-performance task execution across all operational modes.
dc.description.sponsorshipMinistry for Science, Higher Education and Youth of Canton Sarajevo, Bosnia and Herzegovina [27-02-35-3517-22/22, 27-02-35-33087-25/24]
dc.description.sponsorshipThis research was partially supported by the Ministry for Science, Higher Education and Youth of Canton Sarajevo, Bosnia and Herzegovina under the Grants 27-02-35-3517-22/22 and 27-02-35-33087-25/24.
dc.identifier.doi10.1007/s12555-024-0459-2
dc.identifier.doi10.1007/s12555-024-0459-2
dc.identifier.endpage2057
dc.identifier.issn1598-6446
dc.identifier.issn2005-4092
dc.identifier.issue7
dc.identifier.scopus2-s2.0-105010693704
dc.identifier.scopusqualityQ2
dc.identifier.startpage2046
dc.identifier.urihttps://doi.org/10.1007/s12555-024-0459-2
dc.identifier.urihttps://hdl.handle.net/11411/10413
dc.identifier.volume23
dc.identifier.wosWOS:001528670700018
dc.identifier.wosqualityQ2
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherInst Control Robotics & Systems, Korean Inst Electrical Engineers
dc.relation.ispartofInternational Journal of Control Automation and Systems
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.snmzKA_WoS_20260402
dc.snmzKA_Scopus_20260402
dc.subjectCompliant Control
dc.subjectForce Control
dc.subjectHybrid Control
dc.subjectImpedance Control
dc.subjectInteraction Control
dc.subjectMotion Control
dc.titleA Motion-impedance-force Controller for Uncertain Robotic Systems
dc.typeArticle

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