Title :
Physical interaction detection and control of compliant manipulators equipped with friction clutches
Author :
Kashiri, N. ; Laffranchi, M. ; Tsagarakis, N.G. ; Margan, Alessio ; Caldwell, D.G.
Author_Institution :
Dept. of Adv. Robot., Ist. Italiano di Technologia, Genoa, Italy
fDate :
May 31 2014-June 7 2014
Abstract :
This work focuses on the modeling and control of robotic manipulators powered by compliant actuation systems equipped with clutches for providing friction torque on demand. A novel control scheme is proposed for modulating the clutch friction torque in this particular class of compliant actuators to make the robot operate in “Rigid mode” when it does not interact with the environment to achieve high accuracy, bandwidth and controllability; meanwhile ensuring that the robot maximum static force is constrained to a maximum threshold permitting flexible reactions in potentially risky scenarios. The robot autonomously switches to “Compliant mode” (clutches off) when it interacts with external agents to exploit the advantages of compliance during contacts. Experimental results are presented to show the effectiveness of proposed approach in improving the robot performance (tracking accuracy) while still guaranteeing an interaction-friendly behavior when contact occurs.
Keywords :
actuators; manipulators; torque control; clutch friction torque; compliant actuation systems; compliant manipulators; compliant mode; external agents; friction clutches; interaction friendly behavior; physical interaction detection; robot maximum static force; robotic manipulators; Actuators; Force; Friction; Joints; Robots; Torque; Vectors;
Conference_Titel :
Robotics and Automation (ICRA), 2014 IEEE International Conference on
Conference_Location :
Hong Kong
DOI :
10.1109/ICRA.2014.6906986