Title :
Compliant motion control with stochastic active observers
Author :
Cortesao, Rui ; Koeppe, Ralf ; Nunes, Urbano ; Hirzinger, Gerd
Author_Institution :
Inst. of Syst. & Robotics, Coimbra Univ., Portugal
Abstract :
The theory of active observers was initially described by Cortesao et al. (2000). This paper introduces properties of the Kalman gains used in the active observer (AOB) design. An important result of the state-space design is demonstrated, which allows stiffness adaptation without changing the control structure. Experiments with a human-robot skill transfer system to perform the peg-in-hole compliant motion task are described, showing the importance of the AOB
Keywords :
assembling; compliance control; feedback; force control; industrial robots; man-machine systems; observers; state-space methods; Kalman gains; control structure; feedback gains; human-robot interaction; industrial robot; linear system; peg-in-hole assembly; skill transfer; state-space design; stiffness; stochastic active observer; Aerodynamics; Control systems; Force control; Kalman filters; Linear feedback control systems; Motion control; Optimal control; Robots; Servomechanisms; Stochastic processes;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.976347
