Adaptive force/velocity control for opening unknown doors
2012 (English)In: Robot Control, Volume 10, Part 1, 2012, 753-758 p.Conference paper (Refereed)
The problem of door opening is fundamental for robots operating in domesticenvironments. Since these environments are generally unstructured, a robot must deal withseveral types of uncertainties associated with the dynamics and kinematics of a door to achievesuccessful opening. The present paper proposes a dynamic force/velocity controller which usesadaptive estimation of the radial direction based on adaptive estimates of the door hinge’sposition. The control action is decomposed into estimated radial and tangential directions,which are proved to converge to the corresponding actual values. The force controller usesreactive compensation of the tangential forces and regulates the radial force to a desired smallvalue, while the velocity controller ensures that the robot’s end-effector moves with a desiredtangential velocity. The performance of the control scheme is demonstrated in simulation witha 2 DoF planar manipulator opening a door.
Place, publisher, year, edition, pages
2012. 753-758 p.
door opening, force/velocity control, adaptive estimation
IdentifiersURN: urn:nbn:se:kth:diva-107028DOI: 10.3182/20120905-3-HR-2030.00047ScopusID: 2-s2.0-84881005175ISBN: 978-390282311-3OAI: oai:DiVA.org:kth-107028DiVA: diva2:574455
10th IFAC Symposium on Robot Control, SYROCO 2012; Dubrovnik; Croatia; 5 September 2012 through 7 September 2012
FunderEU, FP7, Seventh Framework Programme, FP7-ICT-288533Swedish Foundation for Strategic Research Swedish Research CouncilICT - The Next Generation
QC 201212172012-12-052012-12-052013-10-07Bibliographically approved