Cartesian Impedance Control Techniques for Torque Controlled Light-Weight Robots
نویسندگان
چکیده
The paper compares various approaches to implementing a compliant Cartesian behavior for robotic manipulators: impedance, admittance and stiffness control. A new controller structure is proposed, which consists of an impedance controller enhanced by local stiffness control. This structure consistently takes into account the two time scale property of the joint and Cartesian control loops. The DLR light-weight robot, with its position, torque and impedance interfaces on joint level, is an adequate platform for the implementation of the presented methods. The experimental results are discussed and a critical comparison of the performance with different controllers is made. As an application for the new control structure, the fast and intuitive teaching of an insertion task (piston into a motor block) is described.
منابع مشابه
A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots
In this paper we describe a general passivity based framework for the control of flexible joint robots. Herein the recent DLR results on torque-, position-, as well as impedance control of flexible joint robots are summarized, and the relations between the individual contributions are highlighted. It is shown that an inner torque feedback loop can be incorporated into a passivity based analysis...
متن کاملAlin Albu - Schäffer , Christian Ott and Gerd Hirzinger Robots A Unified Passivity - based Control Framework for Position , Torque and Impedance Control of Flexible Joint
This paper describes a general passivity-based framework for the control of flexible joint robots. Recent results on torque, position, as well as impedance control of flexible joint robots are summarized, and the relations between the individual contributions are highlighted. It is shown that an inner torque feedback loop can be incorporated into a passivity-based analysis by interpreting torqu...
متن کاملRobot-Environment Interaction Control of a Flexible Joint Light Weight Robot Manipulator
This paper presents a weighted path planning approach for a light weight robot coming into compliant contact with the environment, as well as robot‐ environment interaction enabled impedance control. Using a joint torque sensor, Cartesian impedance control is introduced to realize the manipulator compliance control. Then the weighted path planning approach is de...
متن کاملDecoupling based Cartesian impedance control of flexible joint robots
This paper addresses the impedance control problem for flexible joint manipulators. An impedance controller structure is proposed, which is based on an exact decoupling of the torque dynamics from the link dynamics. A formal stability analysis of the proposed controller is presented for the general tracking case. Preliminary experimental results are given for a single flexible joint.
متن کاملCartesian impedance control of redundant robots: recent results with the DLR-light-weight-arms
This paper addresses the problem of impedance control for flexible joint robots based on a singular perturbation approach. Some aspects of the impedance controller, which turned out to be of high practical relevance during applications are then addressed, such as the implementation of nullspace stiffness for redundant manipulators, the avoiding of mass matrix decoupling and the related design o...
متن کامل