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Experiments on impedance control to derive adaptive strategies

  • Section 2 Force Control
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Experimental Robotics III

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 200))

Abstract

This paper presents some experimental results on impedance control applied to an industrial manipulator, while considering the constraints and perturbations that occur during a typical assembly task (unknown and varying environment parameters, impacts, friction, noises,...). An experimental and theorical analysis is developed first to derive a simplified scheme from the original Hogan's controller. The simplifications concern the dynamic compensation stage and the force feedback, which has been suppressed to deal with experimental conditions. To increase the performances of the resulting controller, a higher level is added to modify on-line the desired impedance and/or the reference trajectory. This supervisor has been developed using fuzzy logic. Experimental results on an industrial IBM Scara illustrate the ability of the system to absorb large external impacts and perturbations due to variations in the behavior of the manipulator and its environment.

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References

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Author information

Authors and Affiliations

  1. Laboratoire de Robotique de Paris Centre Universitaire de Technologie, 10–12 av. de l'Europe, 78140, Vélizy, FRANCE

    Guillaume Morel & Philippe Bidaud

Authors
  1. Guillaume Morel
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  2. Philippe Bidaud
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Editor information

Tsuneo Yoshikawa (PhD)Fumio Miyazaki (PhD)

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© 1994 Springer-Verlag London Limited

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Morel, G., Bidaud, P. (1994). Experiments on impedance control to derive adaptive strategies. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027588

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  • DOI: https://doi.org/10.1007/BFb0027588

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19905-2

  • Online ISBN: 978-3-540-39355-9

  • eBook Packages: Springer Book Archive

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