Seminar on hybrid - position/force

control
Under the Guidance's of
Prof. Annu Abraham
Prof. Chhatre

Presented By:
Pankaj Deshmukh.
Bhagyashri Jagtap.
 INTRODUCTION
 Combining position and force information into one control
scheme for moving the end effector in nondeterministic
environments is known as scheme hybrid position/force
control, currently referred to as hybrid control.
 The advantage of hybrid control is that the position and force
information are analyzed independently to take advantage of
well-known control techniques, at the final stage when both
have been converted to joint torques.
 The Kinematic instability problem attributed to hybrid control
is not fundamental, but the result of an incorrect formulation
and implementation of the hybrid control scheme.
 BACKGROUND
 Basic concepts of the original hybrid control
scheme.
 The x's in the Figure are 6 x 1 vectors
representing Cartesian position and orientation.
 The f's in the figure are 6 x 1 vectors representing
the Cartesian force and moment.
 The manipulator joint position and torque values
are represented by n x 1 vectors Ɵ and τ
respectively, where n is the number of
manipulator joints.
 POSITION RELATED EQUATIONS
 The position constraints are separated from the force constraints by the selection
matrix S shown in Figure 1. S is a 6 x 6 diagonal matrix for position control or zero
for no position control which defines each degree of freedom in the Cartesian
reference frame of interest. The Cartesian position errors is
Xes = Sxe ……...………………(1)
 The manipulator Jacobian matrix J is the first order approximation for transforming
differential motions in joint space to differential motions in Cartesian space. The
following linearized relationship
 Xe = Jɵe ………………………(2)
 is used to map small joint errors to their corresponding Cartesian errors X e A
unique inverse mapping exists in Equation 2 when J is a square matrix of maximal
rank Under this condition, the joint errors are calculated from the Cartesian errors as
 Ɵe=J-1xe ………………………(3)
 approach for the hybrid control scheme, the selected joint errors are
simply
Ɵes=J-1xes ……………………………(4)
when using the selected Cartesian errors determined in Equation 1.
We will refer to Equation 4 as the original position solution for Ɵes
 We will show that Equation 4 is not the only solution for Ɵ and
es
that there is a general position solution from which a kinematic ally
stable formulation for the hybrid control scheme may be found.
 Equation 4 is, however, an incorrect solution that causes the hybrid

control scheme to be kinematic ally unstable.

 FORCE RELATED EQUATIONS
 In force control, the Cartesian force error f e is calculated . The main
concept of hybrid control is to control force in the directions that are not
position controlled. By using S”., the orthogonal complement of S, the
selected Cartesian force errors are f es= S” fe
………………………….(5)
 The transpose of the manipulator Jacobian matrix transforms Cartesian
forces to the corresponding joint torques as
T
T=J f ……………………….(6)

This relationship is correct for any J and f, and not an approximation for
calculating T. torque errors are
T
Tes=J fes ……….(7)

 Hence, the force equations in Equations 5 and 7 for the hybrid control
scheme are always kinematic ally stable.
 MODIFIED HYBRID CONTROL

Figure 2
 As shown in Figure 2, the errors are now determined in joint space
and mapped to the corresponding Cartesian error Xe
 The relationship between the joint error Ɵes and the selected joint
error Ɵes is obtained by combining Equations 1, 2,and 4 to get
Ɵes =J-1SJ Ɵes ……………………..(8)
 Therefore, Sand J-1 S J are not similar and any analysis done in
Cartesian space must still be performed in the manipulator joint
space. The derivation of Equation 8, however, is still correct.
 Problem Definition:- These are all the equations
relevant to the hybrid control scheme regarding
the kinematic stability of the two formulations.
 These two equations deal only with the position
part of the hybrid control scheme which is instable
 A Correction to the Position Formulation:-
Equation 4 is actually an incorrect derivation and
that there is a general position solution for Ɵes. To
fully understand this solution,we first need to
review some concepts from linear algebra
 SOME LINEAR ALGEBRA
 Consider the following classical linear expression, which may be
found in any text on linear algebra
Ax=b ……………..(9)
 The general solution to Equation 9 for this situation is x=A +b
(I-A+A)z ……..………(10)
 Where A+ is the pseudo inverse of A and z is any arbitrary vector
in Rn.
 It can be shown that in Equation 10 A+ b is orthogonal to (I-A +A)
z and, by the Pythagorean Theorem, the unique minimum
Euclidean norm solution is
X=A+b ..……………….(11)
 PROJECTION MATRICES
 There are two projection matrices associated with each vector space defined in Equation 9 based
on the A matrix transformation all vectors b in Rn can be represented as
b = PAb+PA ┴ b. …………….(12)
 The two projection matrices in Rm for the system in Equation 9 are computed as

PA=AA+ ═> R(PA) Ξ R(A)

P A ┴ =I-AA+ ═> R(P A ┴ ) Ξ N(AT) ……(13)
Similarly, all vectors x in R n can be expressed as
X=PATx+ x PA┴ TX ………………….(14)
Where the two projection matrices in R" for the linear system in Equation 9 are
PAT=A+A => R(PAT )Ξ R(AT)
zx pIT = 1- A+A ~ R(pIT) == N(A).............................(15)
A PIT =O.orthogonal
Hence result of properties define positive semidefine matrix
Therefore quadratic expression
………………………………….(16)
The norm of position vector is bounded by
………………………………………………(17)
This is use in keematic stability
 A COMPLETE POSITION AND FORCE FORMULATION
 The general position solution for Oes in Equation 20 assumes no force
control is present and hence potentially uses the entire manipulator joint
space to control position. This severely restricts the advantages of using
hybrid control.
 The General Position Solution:- Equation 20 as the general position solution
for Ɵes.
 …………………………….(20)
 A Vector Space Approach:-
 ………………………………………………………………………..(31)
 The vector space relationship in Equation 31 is a fundamental result and will
be used to generalize
 the basic notion of hybrid control. We will expand on the meaning of each
subspace in Equation
 31 to show how it relates to the actual equations in hybrid control.
 Position Space Contribution
 …………………………………………………………..(33)
 The solution for ()es in Equation 33 eliminates the explicit projection of the Cartesian error x,
to
 Xes in Equation 1 by its implicit operation in the (S J)+ transformation.
 Force Space Contribution:-The mapping of Cartesian force to manipulator joint torques is
essentially unchanged. By combining
 Equations 5 and 7 from Section 2.2, and using the symmetry property of projection matrices, the
 result may be expressed as
 T - JT Sol f e s - e = (SolJf f e
 (34)
 The final matrix transformation in Equation 34 is clearly the space spanned by the ~((Sol J)T) in
 Equation 31.
 Null Space Contribution:-the null space of J may be used to influence the control of
 both joint positions and torques,
 THE GENERALIZED HYBRID CONTROL SCHEME

 In force control, we combine the solution for T es

in Equation 34 with an additional term from the
 null space of J to result in
 ……………………………………………….(36)
 where ZT is an arbitrary torque vector in the
manipulator joint space.
 Figure 3
 KINEMATIC STABILITY
 Before we begin the analysis, the following necessary condition
for kinematic stability must be
 satisfied. The position control part of the system must be stable
without the influence of the
 selection matrix S. In other words, the manipulator is always
stable when using pure positioncontrol with S = I, and the Be's
corresponding to the xe's under these normal conditions do not
 produce any system instabilities. The selection matrix is not
intended to stabilize an unstable
 system. This necessary condition should seem very natural and
will always be regarded as true.
SUFFICIENT CONDITIONS FOR KINEMATIC STABILITY

 Our approach is to state formally some conditions for determining

how the kinematics of a system can induce instability without
having to include the complete system model. It is possible these
conditions may over constrain the use of the entire stable region for
the complete system and so they should be regarded only as
sufficient conditions. The proofs are not rigorous and follow very
basic lines of reasoning. We have two condition
 Condition1:-The algebraic form
 of this condition is, given a projection matrix P in the vector space
R" and two related vectors VI, V2 ERn, then for kinematic stability
 …………………………………………………(37)
 By using the properties of a projection matrix, Equation 37
simplifies to
 ……………………………………….(38)
 Condition 11:-We consider the next condition a
precautionstates that the output vector norm of a system is
bounded by a constant value
 k (less than infinity) times the input vector norm. We have
chosen k = 1 for our second condition
 on kinematic stability to get
 …………………………………………..(39)
 CARTESIAN SPACE TEST FOR KINEMATIC STABILITY

 To test the first condition for kinematic stability in Cartesian space, the inequality
constraints in
 Equation 38 become
 …………………………………….()40)
 Equation 1 is substituted in Equation 40,
 the results are
 ………………………………………………..()41)
 For the second kinematic stability test, the norm of the transformation given in Equation 1
is
 ………………………(42) the upper
 bound on the norm for the selected Cartesian errors is
 ………………………………………………(43) I
 n Cartesian space, the selection
 matrix transformation always satisfies our sufficient conditions for kinematic stability.
 JOINT SPACE TEST FOR KINEMATIC STABILITY

 To test the first condition for kinematic stability in joint space,

the inequality constraints in Equation 38 are simply'‘
 ………………………………………………………..(44)
 The projection matrices in Equation 44 are the joint space
projections of the linear transformation
 (S J) in Equation 19. These projection matrices are
 ………………………………………………………….(45)
 The first condition as stated in Equation 44,
 using the projections in Equation 45, becomes
 ……………………………….(46)
 A TEST OF THE CORRECT POSITION SOLUTION

 Hence, whenever the

 norms of the two orthogonal components satisfy the
following condition
 ……………………………………….(52)
 Hence, the correct position solution for Bes in the
generalized
 hybrid control scheme can always find a z() to
satisfy the sufficient conditions for kinematic
stability
 A TEST OF THE ORIGINAL POSITION SOLUTION

 For the second condition of kinematic stability, the norm of

Bes in Equation 8 is
 ………………………………………..(55)
 For some manipulator configurations, II J-1 S J Be II can be
greater than II Be II, which means II Bes II
 will be greater than II Be II under these conditions. Hence,
the original position solution for Bes in
 the hybrid control scheme does not always satisfy the
sufficient conditions for
 kinematic stability. that corresponded to the times
 A STABLE HYBRID CONTROL SCHEME
 One conclusion from the results in Section 5.3.1 for the generalized hybrid
control scheme is that
 the arbitrary vector Zo cannot be arbitrary when constrained to satisfy the
kinematic stability
 conditions. To ensure stability, Zo must be chosen in a manner that also
satisfies both Equations 48
 and 52. Even though this will ensure kinematic stability, it is not clear that
continuously smooth
 joint motions can be maintained.
 Equation 48 for the first kinematic stability test is now always satisfied and
the second kinematic
 stability test follows directly from the same principles in Equation 17 of
Section 3.2 to get
 …………………………………………………
(56))
 Figure 4 shows a kinematically stable
 version of the generalized hybrid control scheme
that was shown in Figure 3 without the null space
 contribution. The dotted outline shown in Figure
4 is the only difference from the original block
 Figure4

 diagram shown in Figure 1. Although the difference

may seem small, it has a tremendous impact
 on the robustness of hybrid control.
 SUMMARY AND CONCLUSION
 We have tried to present a sound theory for hybrid
position/force control of robot manipulators that will enable
researchers in the field to exploit fully the power and
capability of this control technique.
 The first area reviewed the fundamental kinematic equations
to show an error in the basic position formulation.
 The second area used a vector space approach to derive a
generalized architecture for the hybrid control scheme.
 The third area presented some sufficient conditions for
kinematic stability that do not require the complete system
model in the analysis.
Thank you