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Unified Impedance and Hybrid Force-Position Controller with Kinestatic Filtering

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/
Document Type:Conference or Workshop Item (Speech)
Title:Unified Impedance and Hybrid Force-Position Controller with Kinestatic Filtering
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Gonzales Marin, Antonioantonio.gonzalesmarin (at) dlr.dehttps://orcid.org/0000-0002-5666-4653
Weitschat, Romanroman.weitschat (at) dlr.deUNSPECIFIED
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 Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität
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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