Exploiting impedance shaping approaches to overcome force overshoots in delicate interaction tasks
Open Access
- 1 September 2016
- journal article
- research article
- Published by SAGE Publications in International Journal of Advanced Robotic Systems
- Vol. 13 (5)
- https://doi.org/10.1177/1729881416662771
Abstract
The aim of the presented article is to overcome the force overshoot issue in impedance based force tracking applications. Nowadays, light-weight manipulators are involved in high-accurate force control applications (such as polishing tasks), where the force overshoot issue is critical (i.e. damaging the component causing a production waste), exploiting the impedance control. Two main force tracking impedance control approaches are described in literature: (a) set-point deformation and (b) variable stiffness approaches. However, no contributions are directly related to the force overshoot issue. The presented article extends both such methodologies to analytically achieve the force overshoots avoidance in interaction tasks based on the on-line estimation of the interacting environment stiffness (available through an EKF). Both the proposed control algorithms allow to achieve a linear closed-loop dynamics for the coupled robot-environment system. Therefore, control gains can be analytically on-line calculated to achieve an over-damped closed-loop dynamics of the controlled coupled system. Control strategies have been validated in experiments, involving a KUKA LWR 4+. A probing task has been performed, representative of many industrial tasks (e.g. assembly tasks), in which a main force task direction is defined.Keywords
This publication has 18 references indexed in Scilit:
- Impedance control of robots using voltage control strategyNonlinear Dynamics, 2013
- Robotic assembly and maintenance of future space stations based on the ISS mission operations experienceActa Astronautica, 2009
- Robotic polishing of precision molds with uniform material removal controlInternational Journal of Machine Tools and Manufacture, 2009
- A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint RobotsThe International Journal of Robotics Research, 2007
- Process modeling for robotic polishingJournal of the American Academy of Dermatology, 2005
- Force Tracking Impedance Control of Robot Manipulators Under Unknown EnvironmentIEEE Transactions on Control Systems Technology, 2004
- An exponentially stable adaptive control for force and position tracking of robot manipulatorsIEEE Transactions on Automatic Control, 1999
- Force Tracking in Impedance ControlThe International Journal of Robotics Research, 1997
- The Equivalence of Second-Order Impedance Control and Proportional Gain Explicit Force ControlThe International Journal of Robotics Research, 1995
- Hybrid Position/Force Control of ManipulatorsJournal of Dynamic Systems, Measurement, and Control, 1981