Two Mode Impedance Control of Velma Service Robot Redundant Arm

Winiarski, Tomasz; Banachowicz, Konrad; Seredyński, Dawid

doi:10.1007/978-3-319-15847-1_31

Cited by 11 publications

(8 citation statements)

References 8 publications

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“…The control system development and analysis starts with general use cases (Figure 1). The variety of applications demands two modes of impedance control [23] (UC01, UC02), gripper fingers control (UC03) and tool parameters setting (UC04), and finally, the identification of the grasped object parameters (UC05), which is the main contribution of this work.…”

Section: Control Systemmentioning

confidence: 99%

“…The task with lower priority concerns joint impedance control [23] and can be expressed as Equation ( 4):…”

Section: Primitive Transition Function Core/acsjointmove/pfmentioning

confidence: 99%

“…Let n e be the number of robot's arms, each of which has one effector. The task with the lowest priority is the Cartesian impedance control [23] shown as Equation ( 6):…”

Section: Primitive Transition Function Core/acsoperationalmove/pfmentioning

confidence: 99%

“…As the use of domain-specific frameworks is a convenient approach [35], the FABRIC bases on ROS [36] and OROCOS [37]. The Velma robot has already been used in many research works described, e.g., in [2,23,26].…”

Section: The Verification Of the Grasped Object Weight Compensation Algorithmmentioning

confidence: 99%

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Grasped Object Weight Compensation in Reference to Impedance Controlled Robots

2021

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This paper addresses the problem of grasped object weight compensation in the one-handed manipulation of impedance controlled robots. In an exemplary identification procedure, the weight of an object and its centre of mass together with gripper kinematic configuration are identified. The procedure is based on the measurements from a 6-axis force/torque sensor mounted near the gripper. The proposed method reduces trajectory tracking errors coming from the model imprecision without compromising the main advantages of impedance control. The whole approach is applied according to the embodied agent paradigm and verified on the two-arm service robot both in simulation and on hardware. Due to the general description that follows system engineering standards, the method can be easily modified or applied to similar systems.

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Section: Control Systemmentioning

confidence: 99%

“…The task with lower priority concerns joint impedance control [23] and can be expressed as Equation ( 4):…”

Section: Primitive Transition Function Core/acsjointmove/pfmentioning

confidence: 99%

“…Let n e be the number of robot's arms, each of which has one effector. The task with the lowest priority is the Cartesian impedance control [23] shown as Equation ( 6):…”

Section: Primitive Transition Function Core/acsoperationalmove/pfmentioning

confidence: 99%

Section: The Verification Of the Grasped Object Weight Compensation Algorithmmentioning

confidence: 99%

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Grasped Object Weight Compensation in Reference to Impedance Controlled Robots

2021

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“…In addition to these advanced impedance control schemes, some other technical problems have also received attention. The studied techniques include the impedance control of redundant robots, [139][140][141][142][143][144] the impedance control of flexible joint robots, [145][146][147] the impedance control of cooperative robots, 134,148,149 and the force sensor-less impedance control. 127,150,151…”

Section: Other Typical Control Techniquesmentioning

confidence: 99%

A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation

Song¹,

Yu²,

Zhang

2019

Robotica

106

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SummaryThere have been significant interests and efforts in the field of impedance control on robotic manipulation over last decades. Impedance control aims to achieve the desired mechanical interaction between the robotic equipment and its environment. This paper gives the overview and comparison of basic concepts and principles, implementation strategies, crucial techniques, and practical applications concerning the impedance control of robotic manipulation. This work attempts to serve as a tutorial to people outside the field and to promote discussion of a unified vision of impedance control within the field of robotic manipulation. The goal is to help readers quickly get into the problems of their interests related to impedance control of robotic manipulation and to provide guidance and insights in finding appropriate strategies and solutions.

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Robot intelligent communication based on deep learning and TRIZ ergonomics for personalized healthcare

Ye¹,

Zhou

2022

Pers Ubiquit Comput

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Two Mode Impedance Control of Velma Service Robot Redundant Arm

Cited by 11 publications

References 8 publications

Grasped Object Weight Compensation in Reference to Impedance Controlled Robots

Grasped Object Weight Compensation in Reference to Impedance Controlled Robots

A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation

Robot intelligent communication based on deep learning and TRIZ ergonomics for personalized healthcare

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