Robotic Force Control using Observer-based Strict Positive Real Impedance Control
Författare
Summary, in English
This paper presents theoretical and experimentalresults on observer-based impedance control for forcecontrol without velocity feedback. As the velocity may notavailable to measurement, which is often the case for industrialrobots, an observer was designed to reconstruct velocityin such a way that it be useful for stabilizing feedbackcontrol and to modification of the damping in the impedancerelationship. A good model of the robot joint used wasobtained by system identification. Experiments were carriedout on an ABB industrial robot 2000 to demonstrate resultson observer-based SPR feedback applied in the design.Stability was shown via a modified Popov criterion.
Avdelning/ar
Publiceringsår
2003
Språk
Engelska
Sidor
3686-3691
Publikation/Tidskrift/Serie
Proceedings. ICRA '03.
Volym
3
Fulltext
- Available as PDF - 342 kB
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Dokumenttyp
Konferensbidrag
Förlag
IEEE - Institute of Electrical and Electronics Engineers Inc.
Ämne
- Control Engineering
Nyckelord
- velocity feedback
- stability
- robotic force control
- observer
- industrial robots
- impedance control
- feedback control
- ABB industrial robot 2000
- Popov criterion
Status
Published
Projekt
- RobotLab LTH
- Sensor-based Integration and Task-level Programming, 1999-2002.
- Lund Research Programme in Autonomous Robotics, 1998-2001
ISBN/ISSN/Övrigt
- ISSN: 2152-4092
- ISSN: 1050-4729
- ISBN: 0-7803-7736-2