Title :
Manipulator impedance accuracy in position-based impedance control implementations
Author :
Carignan, Craig R. ; Smith, Jennifer A.
Author_Institution :
Space Syst. Lab., Maryland Univ., College Park, MD, USA
Abstract :
Compares two position-based impedance controllers obtaining desired end-effector impedances during robot interaction with the environment. It is shown that while these two controllers have similar structures, the Adept Controller yields more accurate impedances in the DC region because of the stiffness control properties of the force loop. In addition, adding a force feedforward component to offset the contact force was found to significantly reduce the impedance errors in both controllers. The effect of bandwidth and force feedforward are examined for a planar arm example for a typical set of desired impedance specifications
Keywords :
compliance control; controllers; force control; manipulators; position control; Adept Controller; DC region; bandwidth; contact force; end-effector impedances; force feedforward; force loop; impedance errors; impedance specifications; manipulator impedance accuracy; planar arm; position-based impedance control; robot interaction; stiffness control; Control systems; Force control; Force sensors; Impedance; Manipulator dynamics; Manufacturing; Orbital robotics; Robot control; Robot sensing systems; Servomechanisms;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351320
