Title :
An adaptive compliance position control based on EKF for series elastic actuation
Author :
Chengjie Lv ; Qiuguo Zhu ; Rong Xiong
Author_Institution :
State Key Lab. of Ind. Control Technol., Zhejiang Univ., Hangzhou, China
Abstract :
Considering the intrinsic safety of physical human-robot interaction, this paper proposes a compliance Cartesian position control of robot manipulator with series elastic actuations(SEA). High spring compliance introduces strong passive dynamics to improve safety. A kinetics model of manipulator was built to investigate the effect of applying driving forces. Without adopting the inverse dynamics, an adaptive control method positioning the end-effector to reach the target point was demonstrated based on torque control. The introduction of probabilistic model helps to improve system performance in many aspects including response speed, error rejection and robustness. Both simulation and experimental results shown that the system can be stopped or disturbed safely and stably while it was operating in an unconstructed environment.
Keywords :
adaptive control; compliance control; end effectors; manipulator dynamics; manipulator kinematics; position control; torque control; Cartesian position control; EKF; SEA; adaptive compliance position control; driving forces; end-effector; inverse dynamics; manipulator kinetics model; passive dynamics; probabilistic model; robot manipulator; safety; series elastic actuation; spring compliance; torque control; Adaptation models; Dynamics; Manipulator dynamics; Position control; Safety; Springs; adaptive control; compliance control; probabilistic mode; series elastic actuation;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
DOI :
10.1109/WCICA.2014.7053224