Abstract
In this paper two approaches for the correct task execution during null-space impedance control of a kinematically redundant robot are presented. The algorithms guarantee safe and dependable reaction of the robot during deliberate or accidental interaction with the environment, thanks to null-space impedance control. Moreover, the correct execution of the task assigned to the end-effector is ensured by control laws relying on two different observers. One is based on task space information and the other on the generalized momentum of the robot. The performance of the proposed control is verified through numerical simulations on 7R KUKA lightweight robot arm.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
Bibliography
A. Bicchi and G. Tonietti. Fast and soft arm tactics: dealing with the safety performance trade-off in robot arms design and control IEEE Robotics and Automation Magazine, vol. 11, pp. 22–33, 2004.
A. De Luca and L. Ferrajoli. Exploiting robot redundancy in collision detection and reaction. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3200–3305, 2008.
A. De Santis, B. Siciliano, A. De Luca and A. Bicchi. An atlas of physical human-robot interaction. Mechanism and Machine Theory, vol. 43, pp. 253–270, 2008.
S. Haddadin, A. Albu-Schäffer, A. De Luca, and G. Hirzinger. Collision detection and reaction: a contribution to safe physical human-robot interaction. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3356–3363, 2008.
O. Khatib, L. Sentis, J.H. Park and J. Warren. Whole-body dynamic behavior and control of human-like robots. International Journal of Humanoid Robotics, vol. 1, pp. 29–43, 2004.
V.J. Lumelsky and E. Cheung. Sensitive skin. IEEE Sensors Journal, vol. 1, pp. 41–51, 2001.
J. Nakanishi, R. Cory, M.J. Peters and S. Schaal. Operational space control: A theoretical and empirical comparison. International Journal of Robotics Research, vol. 27, pp. 737–757, 2008.
C. Ott. Cartesian Impedance Control of Redundant and Flexible-Joint Robots. Springer Tracts in Advanced Robotics, 2008.
E. Panteley and A. Loria. On global uniform asymptotic stability of nonlinear time-varying systems in cascade. Systems and Control Letters, vol. 33, pp. 131–138, 1998.
H. Sadeghian, L. Villani, M. Keshmiri and B. Siciliano. Multi-priority control in redundant robotic systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3752–3757, 2011.
B. Siciliano and J.J. Slotine. A general framework for managing multiple tasks in highly redundant robotic systems. 5th International Conference on Advanced Robotics, pp. 1211–1216, 1991.
T. Yoshikawa and O. Khatib. Compliant motion control for a humanoid robot in contact with the environment and humans. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 211–218, 2008 within the PRIN 2009 20094WTJ29 003 ROCOCO’ project.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 CISM, Udine
About this paper
Cite this paper
Villani, L., Sadeghian, H., Siciliano, B. (2013). Null-Space Impedance Control For Physical Human-Robot Interaction. In: Padois, V., Bidaud, P., Khatib, O. (eds) Romansy 19 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 544. Springer, Vienna. https://doi.org/10.1007/978-3-7091-1379-0_24
Download citation
DOI: https://doi.org/10.1007/978-3-7091-1379-0_24
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-1378-3
Online ISBN: 978-3-7091-1379-0
eBook Packages: EngineeringEngineering (R0)