Modeling and real-time cartesian impedance control of 3-DOF robotic arm in contact with the surface

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dc.authorid0000-0001-6888-5755
dc.contributor.authorBeyhan, Ayberk
dc.contributor.authorAdar, Nurettin Gokhan
dc.date.accessioned2026-02-08T15:15:52Z
dc.date.available2026-02-08T15:15:52Z
dc.date.issued2024
dc.departmentBursa Teknik Üniversitesi
dc.description.abstractRobotic arms have become increasingly popular and widely used in various industrial applications. However, conventional control methods are not capable of adequately controlling a robotic arm in tasks that require contact with a surface. To address this issue, this study proposes a Cartesian impedance control method to control a 3-DOF robotic arm in real-time during contact with a surface. The proposed controller consists of two control loops: an inner loop and an outer loop. The inner loop utilizes a motion control method in the joint space, with the parameters of the controller being calculated through system identification. The outer loop implements Cartesian impedance control in the Cartesian space using a mass-spring-damper model. The coefficients of the Cartesian impedance control were determined based on the over-damped response with real-time applications. By selecting the inner loop in the joint space and the outer loop in the Cartesian space, the control of the robotic arm is guaranteed. The proposed method was tested in real-time, and its performance was compared with the PTD with gravity compensation control in the Cartesian space. The results indicated that the proposed method was able to successfully follow reference trajectories and reduce the contact force. (c) 2024 Sharif University of Technology. All rights reserved.
dc.description.sponsorshipScientific Research Projects Coordination Unit of Bursa Technical Univer-sity [191N008]
dc.description.sponsorshipAcknowledgments This work was supported by the Scientific Research Projects Coordination Unit of Bursa Technical Univer-sity. Project number: 191N008.
dc.identifier.doi10.24200/sci.2023.59242.6157
dc.identifier.endpage1430
dc.identifier.issn1026-3098
dc.identifier.issue16
dc.identifier.scopus2-s2.0-85212458110
dc.identifier.scopusqualityQ2
dc.identifier.startpage1420
dc.identifier.urihttps://doi.org/10.24200/sci.2023.59242.6157
dc.identifier.urihttps://hdl.handle.net/20.500.12885/6007
dc.identifier.volume31
dc.identifier.wosWOS:001407402800006
dc.identifier.wosqualityQ2
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherSharif Univ Technology
dc.relation.ispartofScientia Iranica
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzWOS_KA_20260207
dc.subjectCartesian impedance
dc.subjectRobotic arm
dc.subjectReal-time control.
dc.titleModeling and real-time cartesian impedance control of 3-DOF robotic arm in contact with the surface
dc.typeArticle

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