A practical approach to generalized hierarchical task specification for indirect force controlled robots

The main contribution of this paper is the general formulation of force and positioning tasks on joint and Cartesian level for indirect force controlled robots and combining them in a strict hierarchical way. As a secondary contribution, we provide a simple and intuitive programming paradigm, using the developed formulation. By building on the well-established indirect force control scheme, which is often already provided for commercial robots, we provide application programmers with a useful tool for specifying tasks, involving positioning and force components. Different physical interaction tasks have been implemented to show the potential of the proposed method and discuss the general advantages and drawbacks.

[1]  Ronan Boulic,et al.  An inverse kinematics architecture enforcing an arbitrary number of strict priority levels , 2004, The Visual Computer.

[2]  Ian D. Walker,et al.  Overview of damped least-squares methods for inverse kinematics of robot manipulators , 1995, J. Intell. Robotic Syst..

[3]  O. Khatib.  TASK-ORIENTED CONTROL OF HUMANOID ROBOTS THROUGH PRIORITIZATION , 2004 .

[4]  Miomir Vukobratovic,et al.  Contact control concepts in manipulation robotics-an overview , 1994, IEEE Trans. Ind. Electron..

[5]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation , 1984, 1984 American Control Conference.

[6]  Kasper Claes,et al.  iTASC: a tool for multi-sensor integration in robot manipulation , 2008 .

[7]  P. Tomei.  A simple PD controller for robots with elastic joints , 1991 .

[8]  Joris De Schutter,et al.  Constraint-based Task Specification and Estimation for Sensor-Based Robot Systems in the Presence of Geometric Uncertainty , 2007, Int. J. Robotics Res..

[9]  Bruno Siciliano,et al.  A survey of robot interaction control schemes with experimental comparison , 1999 .

[10]  Jean-Jacques E. Slotine,et al.  A general framework for managing multiple tasks in highly redundant robotic systems , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

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

[12]  Pierre-Brice Wieber,et al.  Kinematic Control of Redundant Manipulators: Generalizing the Task-Priority Framework to Inequality Task , 2011, IEEE Transactions on Robotics.

[13]  John J. Craig,et al.  Hybrid position/force control of manipulators , 1981 .

[14]  Joris De Schutter,et al.  iTASC: a tool for multi-sensor integration in robot manipulation , 2008, 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems.

[15]  Matthew T. Mason,et al.  Compliance and Force Control for Computer Controlled Manipulators , 1981, IEEE Transactions on Systems, Man, and Cybernetics.

[16]  Neville Hogan,et al.  On the stability of manipulators performing contact tasks , 1988, IEEE J. Robotics Autom..

[17]  R. Boulic,et al.  Interactive identification of the center of mass reachable space for an articulated manipulator , 1997, 1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97.

[18]  Gianluca Antonelli,et al.  Stability Analysis for Prioritized Closed-Loop Inverse Kinematic Algorithms for Redundant Robotic Systems , 2009, IEEE Trans. Robotics.

[19]  Alin Albu-Schäffer,et al.  A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots , 2007, Int. J. Robotics Res..

[20]  Stefano Chiaverini,et al.  Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators , 1997, IEEE Trans. Robotics Autom..

[21]  Gordon Cheng,et al.  A control strategy for operating unknown constrained mechanisms , 2010, 2010 IEEE International Conference on Robotics and Automation.

[22]  A. Liegeois,et al.  Automatic supervisory control of the configuration and behavior of multi-body mechanisms , 1977 .

[23]  Bruno Siciliano,et al.  Closed-Loop Inverse Kinematics Schemes for Constrained Redundant Manipulators with Task Space Augmentation and Task Priority Strategy , 1991, Int. J. Robotics Res..

[24]  Jing Xiao,et al.  Active compliant motion: a survey , 2005, Adv. Robotics.

[25]  Oussama Khatib,et al.  A Unified Approach to Integrate Unilateral Constraints in the Stack of Tasks , 2009, IEEE Transactions on Robotics.