Variable damping impedance control of a bilateral telerobotic system

Stiffness and damping control in a telerobotic system allows the master and slave dynamics to be defined by the user. However, many requirements for good teleoperation produce conflicting choices of desired dynamic parameters. Rather than selecting a compromise value for the damping of the master and slave, it is proposed that these values be functionally dependent on sensed and commanded values of force and velocity, with no previous knowledge of the environment required. A strategy is proposed which provides better quality teleoperation under a variety of circumstances than is achievable with constant dynamics. It is shown that tracking in free space and along a surface by the slave can be maintained while impact forces are minimized. The algorithms have been implemented on a 7-DOF Robotics Research Corporation manipulator with a 6-DOF Kraft master hand controller, and the impact and tracking performance is illustrated.

[1]  Daniel E. Whitney,et al.  Historical Perspective and State of the Art in Robot Force Control , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[2]  Ning Xi,et al.  Force and Contact Transition Control via Nonlinear Feedback and Event-based Planning , 1995 .

[3]  Rajiv V. Dubey,et al.  Real-time implementation of an optimization scheme for seven-degree-of-freedom redundant manipulators , 1991, IEEE Trans. Robotics Autom..

[4]  Romeo Ortega,et al.  On adaptive impedance control of robot manipulators , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[5]  Masaki Yamakita,et al.  Experimental study of tele-bilateral impedance control using bilinear model , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[6]  Rajiv V. Dubey,et al.  Design and experimental studies of a generalized bilateral controller for a teleoperator system with a six DOF master and a seven DOF slave , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[7]  Hikaru Inooka,et al.  Variable impedance control of a robot for cooperation with a human , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[8]  Tsuneo Yoshikawa,et al.  Bilateral control of master-slave manipulators for ideal kinesthetic coupling , 1990, EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications.

[9]  Max Q.-H. Meng,et al.  Impedance control with adaptation for robotic manipulations , 1991, IEEE Trans. Robotics Autom..

[10]  Wyatt S. Newman,et al.  Augmented impedance control: an approach to compliant control of kinematically redundant manipulators , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

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

[12]  J. Jansen,et al.  Controller Design for a Force-Reflecting Teleoperator System With Kinematically Dissimilar Master and Slave , 1992 .

[13]  Hendrik Van Brussel,et al.  Compliant Robot Motion I. A Formalism for Specifying Compliant Motion Tasks , 1988, Int. J. Robotics Res..

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

[15]  Blake Hannaford,et al.  A design framework for teleoperators with kinesthetic feedback , 1989, IEEE Trans. Robotics Autom..

[16]  Richard Colbaugh,et al.  Adaptive compliant motion control of manipulators: theory and experiments , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[17]  R. Kelly,et al.  An adaptive impedance/force controller for robot manipulators , 1991 .

[18]  Homayoon Kazerooni.  On the Robot Compliant Motion Control , 1989 .