Robot Control for Task Performance and Enhanced Safety under Impact
Artikel i vetenskaplig tidskrift, 2015

A control law combining motion performance quality and low stiffness reaction to unintended contacts is proposed in this work. It achieves prescribed performance evolution of the position error under disturbances up to a level related to model uncertainties and responds compliantly and with low stiffness to significant disturbances arising from impact forces. The controller employs a velocity reference signal in a model-based control law utilizing a non-linear time-dependent term, which embeds prescribed performance specifications and vanishes in case of significant disturbances. Simulation results with a three degrees of freedom (DOF) robot illustrate the motion performance and self-regulation of the output stiffness achieved by this controller under an external force, and highlights its advantages with respect to constant and switched impedance schemes. Experiments with a KUKA LWR4+ demonstrate its performance under impact with a human while following a desired trajectory.

Unintentional contact

Control

Variable stiffness

Motion performance

Safety

Författare

Yiannis Karayiannidis

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

Leonidas Droukas

Aristotelio Panepistimio Thessalonikis

Dimitrios Papageorgiou

Aristotelio Panepistimio Thessalonikis

Zoe Doulgeri

Aristotelio Panepistimio Thessalonikis

Frontiers in Robotics and AI

2296-9144 (ISSN)

Vol. 2 Dec 1-12 34

Ämneskategorier

Robotteknik och automation

Reglerteknik

DOI

10.3389/frobt.2015.00034

Mer information

Senast uppdaterat

2019-10-29