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Base Force/Torque Sensing for Position based artesian Impedance Control

Ott, Christian and Nakamura, Yoshihiko (2009) Base Force/Torque Sensing for Position based artesian Impedance Control. In: Proceedings. IROS, International Conference on Intelligent Robots and Systems, 11. Okt. -15. Okt. 2009, St. Louis, USA.

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Abstract

In this paper, a position based impedance controller (i.e. admittance controller) is designed by utilizing measurements of a force/torque sensor, which is mounted at the robot’s base. In contrast to conventional force/torque sensing at the end-effector, placing the sensor at the base allows to implement a compliant behavior of the robot not only with respect to forces acting on the end-effector but also with respect to forces acting on the robot’s structure. The resulting control problem is first analyzed in detail for the simplified one-degree-of-freedom case in terms of stability and passivity. Then, an extension to the Cartesian admittance control of a robot manipulator is discussed. Furthermore, it is shown how the steady state properties of the underlying position controller can be taken into account in the design of the outer admittance controller. Finally, a simulation study of the Cartesian admittance controller applied to a three-degrees-offreedom manipulator is presented.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Base Force/Torque Sensing for Position based artesian Impedance Control
Authors:
AuthorsInstitution or Email of Authors
Ott, ChristianChristian.Ott@dlr.de
Nakamura, YoshihikoUniversity of Tokyo
Date:11 October 2009
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:Base Force, Torque Sensing, Impedance Control
Event Title:IROS, International Conference on Intelligent Robots and Systems
Event Location:St. Louis, USA
Event Type:international Conference
Event Dates:11. Okt. -15. Okt. 2009
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:14 Jan 2010 16:53
Last Modified:12 Dec 2013 20:52

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