Robust implementation of generalized impedance control for robot manipulators

Authors: P.Chan, S.; P.Chen, H.

Source: Advanced Robotics, Volume 15, Number 6, 2001 , pp. 641-661(21)

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Abstract:

Compliant manipulation requires the robot to follow a motion trajectory and to exert a force profile while making compliant contact with a dynamic environment. For this purpose, a generalized impedance in the task space consisting of a second-order function relating motion errors and interaction force errors is introduced such that force tracking can be achieved. Using variable structure model reaching control, the generalized impedance is realized in the presence of parametric uncertainties. The proposed control method is applied to a multi-d.o.f. robot for an assembly task of inserting a printed circuit board into an edge connector socket. It is suggested that an assembly strategy which involves a sequence of planned target generalized impedances can enable the task to be executed in a desirable manner. The effectiveness of this approach is illustrated through experiments by comparing the results with those obtained using a model-based control implementation.

Keywords: ROBOT MANIPULATORS; GENERALIZED IMPEDANCE; ROBUST CONTROL; ASSEMBLY TASK

Document Type: Research article

DOI: http://dx.doi.org/10.1163/156855301317035179

Affiliations: 1: School of EEE, Nanyang Technological University, Block S1, Nanyang Avenue, Singapore 639798, Republic of Singapore

Publication date: 2001-10-01