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Journal of Robotics
Volume 2018, Article ID 9324623, 15 pages
Research Article

A Family of Hyperbolic-Type Explicit Force Regulators with Active Velocity Damping for Robot Manipulators

1Facultad de Ciencias de la Electrónica, Benemérita Universidad Autónoma de Puebla, 72570 Puebla, PUE, Mexico
2Departamento de Ingeniería Robótica, Universidad Autónoma de Aguascalientes, Campus Sur, Av. Prolongación Mahatma Gandhi No. 6601, 20340 Aguascalientes, AGS, Mexico
3Facultad de Ingeniería, Universidad Autónoma de San Luis Potosí, Av. Manuel Nava 8, Zona Universitaria, 78290 San Luis Potosí, SLP, Mexico

Correspondence should be addressed to Fernando Reyes-Cortés; xm.paub.oerroc@seyer.odnanref

Received 28 December 2017; Accepted 1 March 2018; Published 16 April 2018

Academic Editor: L. Fortuna

Copyright © 2018 Fernando Reyes-Cortés et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper addresses the explicit force regulation problem for robot manipulators in interaction tasks. A new family of explicit force-control schemes is presented, which includes a term driven by a large class of saturated-type hyperbolic functions to handle the force error. Also, an active velocity damping term with the purpose of obtaining energy dissipation on the contact surface is incorporated plus compensation for gravity. In order to ensure asymptotic stability of the closed-loop system equilibrium point in Cartesian space, we propose a strict Lyapunov function. A force sensor placed at the end-effector of the robot manipulator is used in order to feed back the measure of the force error in the closed-loop, and an experimental comparison of the performance -norm between 5 explicit force control schemes, which are the classical proportional-derivative (PD), arctangent, and square-root controls and two members of the proposed control family, on a two-degree-of-freedom, direct-drive robot manipulator, is presented.