Cartesian impedance control of redundant robots: recent results with the DLR-light-weight-arms

This paper addresses the problem of impedance control for flexible joint robots based on a singular perturbation approach. Some aspects of the impedance controller, which turned out to be of high practical relevance during applications are then addressed, such as the implementation of nullspace stiffness for redundant manipulators, the avoiding of mass matrix decoupling and the related design of the desired damping matrix. Finally, the proposed methods are validated through measurements on the DLR robot.

[1]  Alin Albu-Schäffer,et al.  On a new generation of torque controlled light-weight robots , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[2]  Jonghoon Park,et al.  On dynamical decoupling of kinematically redundant manipulators , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[3]  Carlos Canudas de Wit,et al.  Theory of Robot Control , 1996 .

[4]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation: Part I—Theory , 1985 .

[5]  Alin Albu-Schäffer,et al.  Cartesian impedance control techniques for torque controlled light-weight robots , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[6]  Oussama Khatib,et al.  A unified approach for motion and force control of robot manipulators: The operational space formulation , 1987, IEEE J. Robotics Autom..

[7]  Bruno Siciliano,et al.  Six-DOF impedance control based on angle/axis representations , 1999, IEEE Trans. Robotics Autom..

[8]  Petar V. Kokotovic,et al.  An integral manifold approach to the feedback control of flexible joint robots , 1987, IEEE J. Robotics Autom..

[9]  Alin Albu-Schäffer,et al.  Comparison of adaptive and nonadaptive tracking control laws for a flexible joint manipulator , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[10]  D. Harville.  Matrix Algebra From a Statistician's Perspective , 1998 .

[11]  M. Spong.  Modeling and Control of Elastic Joint Robots , 1987 .

[12]  Hassan K. Khalil,et al.  Singular perturbation methods in control : analysis and design , 1986 .

[13]  Barruquer Moner.  IX. References , 1971 .