DocumentCode :
1500881
Title :
Six-DOF impedance control based on angle/axis representations
Author :
Caccavale, Fabrizio ; Natale, Ciro ; Siciliano, Bruno ; Villani, Luigi
Author_Institution :
Dipt. di Inf. e Sistemistica, Naples Univ., Italy
Volume :
15
Issue :
2
fYear :
1999
fDate :
4/1/1999 12:00:00 AM
Firstpage :
289
Lastpage :
300
Abstract :
A new approach to 6-DOF impedance control is proposed, where the end-effector orientation displacement is derived from the rotation matrix expressing the mutual orientation between the compliant frame and the desired frame. An alternative Euler angles-based description is proposed which mitigates the effects of representation singularities. Then, a class of angle/axis representations are considered to derive the dynamic equation for the rotational part of a 6-DOF impedance at the end effector, using an energy-based argument. The unit quaternion representation is selected to further analyze the properties of the rotational impedance. The resulting impedance controllers are designed according to an inverse dynamics strategy with contact force and moment measurements, where an inner loop acting on the end-effector position and orientation error is adopted to confer robustness to unmodeled dynamics and external disturbances. Experiments on an industrial robot were carried out, and the results of case studies are discussed
Keywords :
industrial manipulators; manipulator dynamics; mechanical variables control; position control; 6-DOF impedance control; Euler angles; angle representations; axis representations; end-effector; industrial manipulators; inverse dynamics; orientation displacement; rotational impedance; stiffness; unit quaternion; Displacement control; End effectors; Equations; Error correction; Force control; Force measurement; Impedance measurement; Position measurement; Quaternions; Robust control;
fLanguage :
English
Journal_Title :
Robotics and Automation, IEEE Transactions on
Publisher :
ieee
ISSN :
1042-296X
Type :
jour
DOI :
10.1109/70.760350
Filename :
760350
Link To Document :
بازگشت