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Operational space robot control for motion performance and safe interaction under Unintentional Contacts
KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. Chalmers University of Technology, Sweden.ORCID iD: 0000-0001-5129-342X
2017 (English)In: 2016 European Control Conference, ECC 2016, Institute of Electrical and Electronics Engineers Inc. , 2017, 407-412 p.Conference paper (Refereed)
Abstract [en]

A control law achieving motion performance of quality and compliant reaction to unintended contacts for robot manipulators is proposed in this work. It achieves prescribed performance evolution of the position error under disturbance forces up to a tunable level of magnitude. Beyond this level, it deviates from the desired trajectory complying to what is now interpreted as unintentional contact force, thus achieving enhanced safety by decreasing interaction forces. The controller is a passivity model based controller utilizing an artificial potential that induces vanishing vector fields. Simulation results with a three degrees of freedom (DOF) robot under the control of the proposed scheme, verify theoretical findings and illustrate motion performance and compliance under an external force of short duration in comparison with a switched impedance scheme.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc. , 2017. 407-412 p.
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-207373DOI: 10.1109/ECC.2016.7810319ISI: 000392695300066ScopusID: 2-s2.0-85015060068ISBN: 9781509025916 OAI: oai:DiVA.org:kth-207373DiVA: diva2:1107579
Conference
2016 European Control Conference, ECC 2016, 29 June 2016 through 1 July 2016
Note

QC 20170609

Available from: 2017-06-09 Created: 2017-06-09 Last updated: 2017-06-09Bibliographically approved

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CiteExportLink to record
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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
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  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
More languages
Output format
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  • asciidoc
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