Gonzales Marin, Antonio and Weitschat, Roman (2016) Unified Impedance and Hybrid Force-Position Controller with Kinestatic Filtering. In: IEEE International Conference on Intelligent Robots and Systems. IROS 2016, 9-14 Oct 2016, Daejeon, South Korea.
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Official URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7759516
Abstract
Interaction control is a mature, but still, current area of research in robotics. Various approaches have been developed for passive and active force regulation and tracking, e.g. impedance control, direct force and hybrid force-position control. The latter method implements a force feedback outer loop on top of a position controller inner loop, where commands are issued with respect to a compliant frame. However, if the compliant frame undergoes a rigid transformation, e.g. in order to specify the same task relative to another reference frame, then commands can be rendered non-compliant with the task at hand. As a consequence, the robot can be damaged or hurt somebody, this is further aggravated by the rigidness of a position controller. In the present paper, we propose a unified impedance and hybrid force-position control scheme to address such issues. The unified controller benefits from the impedance control compliance while an explicit force value can be achieved. Furthermore, we augment the designed controller with a kinestatic filter, which ensures that the commanded pose and wrench are consistent with a given task model. We validate the designed system through experiments with a lightweight robot (LWR). The proposed approach finds applications in industrial settings where interactions with the environment are required in order to fulfill a task and the system must be robust w.r.t. input commands.
Item URL in elib: | https://elib.dlr.de/109544/ | |||||||||
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Document Type: | Conference or Workshop Item (Speech) | |||||||||
Title: | Unified Impedance and Hybrid Force-Position Controller with Kinestatic Filtering | |||||||||
Authors: |
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Date: | 2016 | |||||||||
Journal or Publication Title: | IEEE International Conference on Intelligent Robots and Systems | |||||||||
Refereed publication: | Yes | |||||||||
Open Access: | Yes | |||||||||
Gold Open Access: | No | |||||||||
In SCOPUS: | Yes | |||||||||
In ISI Web of Science: | No | |||||||||
Status: | Published | |||||||||
Keywords: | Kinestatic filtering, impedance control, compliance control, human robot interaction | |||||||||
Event Title: | IROS 2016 | |||||||||
Event Location: | Daejeon, South Korea | |||||||||
Event Type: | international Conference | |||||||||
Event Dates: | 9-14 Oct 2016 | |||||||||
HGF - Research field: | Aeronautics, Space and Transport | |||||||||
HGF - Program: | Space | |||||||||
HGF - Program Themes: | Space System Technology | |||||||||
DLR - Research area: | Raumfahrt | |||||||||
DLR - Program: | R SY - Space System Technology | |||||||||
DLR - Research theme (Project): | R - Vorhaben Intelligente Mobilität (old) | |||||||||
Location: | Oberpfaffenhofen | |||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics | |||||||||
Deposited By: | Gonzales Marin, Antonio | |||||||||
Deposited On: | 20 Dec 2016 11:05 | |||||||||
Last Modified: | 31 Jul 2019 20:06 |
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