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Passivity-based Stability in Explicit Force Control of Robots

Balachandran, Ribin and Jorda, Mikael and Artigas Esclusa, Jordi and Ryu, J.H. and Khatib, Oussama (2017) Passivity-based Stability in Explicit Force Control of Robots. In: IEEE International Conference on Robotics and Automation ICRA. IEEE International Conference on Robotics and Automation ICRA, Singapore.

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Abstract

Direct force control of robots is challenging, particularly since the interaction with the environment can render the robot unstable. This paper presents the results of novel approaches for passivity-based stability for a particular direct force control method, namely explicit force control. A step-by-step procedure to passivate and stabilise the control loop is presented and it explains how Time Domain Passivity Approach, a passivity-based tool widely used in teleoperation and haptics has been extended and applied in explicit force control. The electrical circuit and network-port representations derived in the process allows the analytical evaluation of the system and can be applied in other control architectures as well. The stability methods are presented both qualitatively and quantitatively with simulations and hardware experiments. A discussion about the results obtained and the energy behavior is also provided. Results are promising and suggest that these methods can be used for stable and high-bandwidth force control of robotic manipulators.

Item URL in elib:https://elib.dlr.de/112967/
Document Type:Conference or Workshop Item (Speech)
Title:Passivity-based Stability in Explicit Force Control of Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Balachandran, Ribinribin.balachandran (at) dlr.deUNSPECIFIED
Jorda, Mikaelmjorda (at) stanford.eduUNSPECIFIED
Artigas Esclusa, JordiJordi.Artigas (at) dlr.deUNSPECIFIED
Ryu, J.H.UNSPECIFIEDUNSPECIFIED
Khatib, OussamaUNSPECIFIEDUNSPECIFIED
Date:2 June 2017
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:Force control, stability, passivity, Time Domain Passivity Control
Event Title:IEEE International Conference on Robotics and Automation ICRA
Event Location:Singapore
Event Type:international Conference
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 Telerobotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Radhakrishna Balachandran, Ribin
Deposited On:14 Jul 2017 17:48
Last Modified:31 Jul 2019 20:10

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