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Robot control for task performance and enhanced safety under impact
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0001-5129-342X
2015 (English)In: Frontiers in Robotics and AI, E-ISSN 2296-9144, Vol. 2, no DECArticle in journal (Refereed) Published
Abstract [en]

A control law combining motion performance quality and low stiffness reaction to unintended contacts is proposed in this work. It achieves prescribed performance evolution of the position error under disturbances up to a level related to model uncertainties and responds compliantly and with low stiffness to significant disturbances arising from impact forces. The controller employs a velocity reference signal in a model-based control law utilizing a non-linear time-dependent term, which embeds prescribed performance specifications and vanishes in case of significant disturbances. Simulation results with a three degrees of freedom (DOF) robot illustrate the motion performance and self-regulation of the output stiffness achieved by this controller under an external force, and highlights its advantages with respect to constant and switched impedance schemes. Experiments with a KUKA LWR 4+ demonstrate its performance under impact with a human while following a desired trajectory.

Place, publisher, year, edition, pages
Frontiers Media S.A. , 2015. Vol. 2, no DEC
Keywords [en]
Control, Motion performance, Safety, Unintentional contact, Variable stiffness
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-280520DOI: 10.3389/frobt.2015.00034ISI: 000421362200031Scopus ID: 2-s2.0-85051292893OAI: oai:DiVA.org:kth-280520DiVA, id: diva2:1465808
Note

QC 20200910

Available from: 2020-09-10 Created: 2020-09-10 Last updated: 2022-06-25Bibliographically approved

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Karayiannidis, Yiannis

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