Abstract
This paper presented a safety approach for the interactive manipulator. At first, the basic compliance control of the manipulator is realized by using the Cartesian impedance control, which inter-related the external force and the end position. In this way, the manipulator could work as an external force sensor. A novel force-limited trajectory was then generated in a high dynamics interactive manner, keeping the interaction force within acceptable tolerance. The proposed approach also proved that the manipulator was able to contact the environment compliantly, and reduce the instantaneous impact when collision occurs. Furthermore, adaptive dynamics joint controller was extended to all the joints for complementing the biggish friction. Experiments were performed on a 5-DOF flexible joint manipulator. The experiment results of taping the obstacle, illustrate that the interactive robot could keep the desired path precisely in free space, and follow the demand force in good condition.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Mühlig, M., Gienger, M., Steil, J.J.: Interactive imitation learning of object movement skills. Auton. Robot. 32(2), 97–114 (2012)
Haddadin, S., Albu-Schäffer, A., Hirzinger, G.: Safe physical human-robot interaction: measurements analysis and new insights. In: Kaneko, M., Nakamura, Y. (eds.) Robotics Research. Springer Tracts in Advanced Robotics, vol. 66. Springer, Heidelberg (2010). https://doi.org/10.1007/978-3-642-14743-2_33
Huang, J.B., et al.: DSP/FPGA-based controller architecture for flexible joint robot with enhanced impedance performance. J. Intell. Robot. Syst. 53(3), 247 (2008)
Doggett, W.R., et al.: Development of a Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN) (2014)
Albu-Schäffer, A., Bicchi, A.: Actuators for Soft Robotics. In: Siciliano, B., Khatib, O. (eds.) Springer Handbook of Robotics. Springer, Cham (2016). https://doi.org/10.1007/978-3-319-32552-1_21
Olson, M.W.: Passive trunk loading influences muscle activation during dynamic activity. Muscle Nerve 44(5), 749 (2011)
Hongwei, Z., Ahmad, S., Liu, G.: Torque estimation for robotic joint with harmonic drive transmission based on position measurements. IEEE Trans. Robot. 31(2), 322–330 (2017)
Kulić, D., Croft, E.: Pre-collision safety strategies for human-robot interaction. Auton. Robot. 22(2), 149–164 (2007)
Hogan, N.: Impedance control: an approach to manipulation: theory (part 1); implementation (part 2); applications (part 3). ASME J. Dyn. Syst. Measur. Contr. 107, 1–24 (1985)
Kazerooni, H., Sheridan, T.B., Houpt, P.K.: Robust compliant motion for manipulators: the fundamental concepts of compliant motion (part I); design method (part II). IEEE J. Robot. Autom. 2(2), 83–105 (1986)
Brock, O., Khatib, O.: Elastic strips: a framework for motion generation in human environments. Int. J. Robot. Res. 21(12), 1031–1052 (2002)
Wu, X.D., et al.: Parameter identification for a LuGre model based on steady-state tire conditions. Int. J. Automot. Technol. 12(5), 671 (2011)
Hamon, P., et al.: Dynamic identification of robot with a load-dependent joint friction model, pp. 129–135 (2015)
Huang, J.B., et al.: Adaptive cartesian impedance control system for flexible joint robot by using DSP/FPGA architecture. Int. J. Robot. Autom. 23(4), 251–258 (2008)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG, part of Springer Nature
About this paper
Cite this paper
Jianbin, H., Zhi, L., Hong, L. (2018). Development of Adaptive Force-Following Impedance Control for Interactive Robot. In: Tan, Y., Shi, Y., Tang, Q. (eds) Advances in Swarm Intelligence. ICSI 2018. Lecture Notes in Computer Science(), vol 10942. Springer, Cham. https://doi.org/10.1007/978-3-319-93818-9_2
Download citation
DOI: https://doi.org/10.1007/978-3-319-93818-9_2
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-93817-2
Online ISBN: 978-3-319-93818-9
eBook Packages: Computer ScienceComputer Science (R0)