A force commanded impedance control scheme for robots with hard nonlinearities

Gonzalez, J.J.; Widmann, Glenn R.

doi:10.1109/87.481964

Cited by 29 publications

(13 citation statements)

References 15 publications

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“…Thus, impedance control is adopted by many researchers. For clarity, we separate robot impedance control into several categories: (i) force sensor-less impedance control [9], (ii) end-force/torque sensor-based impedance control [10][11][12] and (iii) joint torque sensor-based impedance control [13][14][15][16][17]. Bonitz and Hisa [10] introduced an internal force-based impedance control scheme for cooperating manipulators, proved the system's stability using Lyapunov theory and presented simulation results to validate the proposed concepts.…”

Section: Introductionmentioning

confidence: 96%

“…There is also significant research in the area of controlling the robot interacting with the environment; they may be generally classified as position/force control [6][7][8] or impedance control [9][10][11][12][13][14][15][16][17]. Compared to impedance control, the position/force control strategy suffers from transition stability issues and bad robustness, and the most attractive advantage of impedance control is that it allows closed-loop position control capabilities in free space and in an inertial environment.…”

Section: Introductionmentioning

confidence: 98%

“…Schneider and Cannon [11] developed an object impedance control for cooperative manipulation and gave experimental results to verify their theory. Gonzalez and Widmann [12] investigated a hybrid impedance control scheme that utilized a desired force as the commanded variable and demonstrated improved performance with respect to an explicit force control structure of a similar degree of robustness. The control schemes mentioned in Refs [10][11][12] and adopted in most industrial robots need a force sensor at the robot end to detect the interaction forces, which are practically impossible to detect when a collision occurs on the manipulator structure.…”

Section: Introductionmentioning

confidence: 98%

“…Gonzalez and Widmann [12] investigated a hybrid impedance control scheme that utilized a desired force as the commanded variable and demonstrated improved performance with respect to an explicit force control structure of a similar degree of robustness. The control schemes mentioned in Refs [10][11][12] and adopted in most industrial robots need a force sensor at the robot end to detect the interaction forces, which are practically impossible to detect when a collision occurs on the manipulator structure. However, other robots, like service robots and space robots, are often light weight, structurally flexible and may have joint torque sensors.…”

Section: Introductionmentioning

confidence: 98%

See 3 more Smart Citations

An Experimental Study on Cartesian Impedance Control for a Joint Torque-Based Manipulator

Liu

Jin

et al. 2008

Advanced Robotics

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The purpose of this paper is to present our results on experimental investigations on Cartesian impedance control and nonlinearity compensation for our harmonic drive robot based on joint torque sensors. The imperfection of the cubic model for harmonic drive friction is detected according to friction identification experiments. In addition, five different Cartesian impedance control schemes are considered and four of them are tested by corresponding experiments with/without friction compensation. Experimental results tell us that the force-based impedance control strategy is more suitable than the position-based strategy for the harmonic drive robot based on joint torque feedback.

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Section: Introductionmentioning

confidence: 96%

Section: Introductionmentioning

confidence: 98%

Section: Introductionmentioning

confidence: 98%

Section: Introductionmentioning

confidence: 98%

See 2 more Smart Citations

An Experimental Study on Cartesian Impedance Control for a Joint Torque-Based Manipulator

Liu

Jin

et al. 2008

Advanced Robotics

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“…Impedance control is usually employed in interaction control and its robustness and feasibility have been acknowledged by many research studies [1], [2], [3], [4], [5], [6], [7], [8], [9]. In particular, a desired passive impedance model is usually prescribed and the safety of the robot and environment is guaranteed.…”

Section: Introductionmentioning

confidence: 99%

Impedance Learning for Robots Interacting With Unknown Environments

2014

IEEE Trans. Contr. Syst. Technol.

128

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Abstract-In this paper, impedance learning is investigated for robots interacting with unknown environments. A twoloop control framework is employed and adaptive control is developed for the inner-loop position control. The environments are described as time-varying systems with unknown parameters in the state-space form. The gradient-following scheme and betterment scheme are employed to obtain a desired impedance model, subject to unknown environments. The desired interaction performance is achieved in the sense that a defined cost function is minimized. Simulation and experiment studies are carried out to verify the validity of the proposed method.

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Experimental Testing of a Gauge Based Collision Detection Mechanism for a New Three‐Degree‐of‐Freedom Flexible Robot

2003

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The use of flexible robots can be easily justified in two main cases: (1) when the weight of the robot has to be minimized and (2) when collisions between the robot and the environment are foreseen, since a flexible, lightweight robot implies less impact energy. The position control of these robots has already been analyzed in previous communications. However, the second of these cases justifying the use of flexible robots requires further consideration, leading to the development of a force controller. In most up to date analysis the force control is studied beginning from a known contact point at a given collision time. In a more realistic approach, however, an accurate detection of the collision would be needed prior to dealing with the force control. After developing a reliable position controller for a three-degree-of-freedom flexible robot using strain gauges placed over the robot structure, in this paper we deal with the possibility of carrying out the collision detection for the same prototype. This has been easily achieved by analyzing some estimated signals such as tip position and tip velocity. However, a complete analysis of the information obtained with the sensors has been required to obtain those estimates and a signal processing scheme had to be devised for a previous filtering of the original signals from the sensors (encoders and strain gauges). This work has been carried out as a first step towards the position/force control. Experimental results on a three-degree-offreedom flexible arm prototype are presented to verify how well this method performs.

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A force commanded impedance control scheme for robots with hard nonlinearities

Cited by 29 publications

References 15 publications

An Experimental Study on Cartesian Impedance Control for a Joint Torque-Based Manipulator

An Experimental Study on Cartesian Impedance Control for a Joint Torque-Based Manipulator

Impedance Learning for Robots Interacting With Unknown Environments

Experimental Testing of a Gauge Based Collision Detection Mechanism for a New Three‐Degree‐of‐Freedom Flexible Robot

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