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Hybrid Force-Impedance Control for Fast End-Effector Motions

Iskandar, Maged and Ott, Christian and Albu-Schäffer, Alin and Siciliano, Bruno and Dietrich, Alexander (2023) Hybrid Force-Impedance Control for Fast End-Effector Motions. IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2023.3270036. ISSN 2377-3766.

[img] PDF - Preprint version (submitted draft)

Official URL: https://ieeexplore.ieee.org/abstract/document/10107744


Controlling the contact force on various surfaces is essential in many robotic applications such as in service tasks or industrial use cases. Mostly, classical impedance and hybrid motion-force control approaches are employed for these kinds of physical interaction scenarios. In this work, an extended Cartesian impedance control algorithm is developed, which includes geometrical constraints and enables explicit force tracking in a hybrid manner. The unified framework features compliant behavior in the free (motion) task directions and explicit force tracking in the constrained directions. Advantageously, the involved force subspace in contact direction is fully dynamically decoupled from dynamics in the motion subspace. The experimental validation with a torque-controlled robotic manipulator on both flat and curved surfaces demonstrates the performance during highly dynamic desired trajectories and confirms the theoretical claims of the approach.

Item URL in elib:https://elib.dlr.de/194975/
Document Type:Article
Title:Hybrid Force-Impedance Control for Fast End-Effector Motions
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Iskandar, MagedUNSPECIFIEDhttps://orcid.org/0000-0003-0644-0659UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115940
Dietrich, AlexanderUNSPECIFIEDhttps://orcid.org/0000-0003-3463-5074UNSPECIFIED
Date:25 April 2023
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Force control, Hybrid motion force control, High-speed robot polishing, Contact control, Robot force control.
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO], R - Lightweight robotics [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Iskandar, Maged Samuel Zakri
Deposited On:05 May 2023 09:56
Last Modified:11 Sep 2023 13:25

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