Base force/torque sensing for position based cartesian impedance control

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Volumn , Issue , 2009, Pages 3244-3250

  Ott, Christian ^a   Nakamura, Yoshihiko ^a  

^a UNIVERSITY OF TOKYO   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ADMITTANCE CONTROL; CARTESIAN IMPEDANCE CONTROL; CARTESIANS; COMPLIANT BEHAVIOR; CONTROL PROBLEMS; FORCE/TORQUE SENSOR; IMPEDANCE CONTROLLERS; POSITION CONTROLLER; ROBOT MANIPULATOR; SIMULATION STUDIES; STEADY STATE PROPERTIES;

INTELLIGENT ROBOTS; MANIPULATORS; ROBOT APPLICATIONS; SENSORS;

CONTROLLERS;

EID: 76249118107     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2009.5354136     Document Type: Conference Paper

References (23)

1. N. Hogan, "Impedance control: An approach to manipulation, part I - theory," ASME Journal of Dynamic Systems, Measurement, and Control, vol. 107, pp. 1-7, 1985.
2. A. D. Santis, B. Siciliano, A. D. Luca, and A. Bicchi, "An atlas of physical human-robot interaction," Mechanism and Machine Theory, vol. 43, pp. 253-270, March 2008.
3. J. Luh, W. Fisher, and R. Paul, "Joint torque control by a direct feedback for industrial robots," IEEE Transactions on Automatic Control, vol. 28, no. 2, pp. 153-161, 1983.
4. G. Hirzinger, N. Sporer, A. Albu-Schäffer, M. Hähnle, R. Krenn, A. Pascucci, and M. Schedl, "DLR's torque-controlled light weight robot III - are we reaching the technological limits now?" in IEEE Int. Conf. on Robotics and Automation, 2002, pp. 1710-1716.
5. B. Siciliano, L. Sciavicco, L. Villani, and G. Oriolo, Robotics: Modelling, Planning and Control, ser. Advanced Textbooks in Control and Signal Processing. Springer-Verlag, 2009.
6. M. Lee and H. Nicholls, "Tactile sensing for mechatronics: a state of the art survey," Mechatronics, vol. 9, no. 1, pp. 1-31, 1999.
7. Ch. Ott, O. Eiberger, W. Friedl, B. Bäuml, U. Hillenbrand, Ch. Borst, A. Albu-Schäffer, B. Brunner, H. Hirschmüller, S. Kielhöfer, R. Koni-etschke, M. Suppa, T. Wimböck, F. Zacharias, and G. Hirzinger, "A humanoid two-arm system for dexterous manipulation," in IEEE-RAS International Conference on Humanoid Robots, 2006, pp. 276-283.
8. G. Cheng, S.-H. Hyon, J. Morimoto, A. Ude, G. Colvin, W. Scroggin, and S. Jacobsen, "Cb: A humanoid research platform for exploring neuroscience," in IEEE-RAS International Conference on Humanoid Robots, 2006, pp. 182-187.
9. S. Kajita, Humanoid Robot. Ohmsha, 2005, (in Japanese).
10. H. West, E. Papadopoulos, S. Dubowsky, and H. Cheah, "A method for estimating the mass properties of a manipulator bymeasuring the reaction moments at its base," in IEEE Int. Conf. on Robotics and Automation, 1989, pp. 1510-1516.
11. G. Liu, K. Iagnemma, S. Dubowsky, and G. Morel, "A base force/torque sensor approach to robot manipulator inertial parameter estimation," in IEEE Int. Conf. on Robotics and Automation, 1998, pp. 3316-3321.
12. G. Morel, K. Iagnemma, and S. Dubowsky, "The precise control of manipulators with high joint-friction using base force/torque sensing," Automatica, vol. 36, no. 7, pp. 931-941, 2000.
13. S. Lu, J. Chung, and S. A. Velinsky, "Human-robot collosion detection and identification based on wrist and base force/torque sensors," in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2005, pp. 3796-3801.
14. K. Kosuge, T. Oosumi, Y. Hirata, H. Asama, H. Kaetsu, and K. Kowa-bata, "Handling of a single object by multiple autonomous mobile robots in coordination with body force sensor," in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 1998, pp. 1419-1424.
15. Ch. Ott and Y. Nakamura, "Admittance control using a base force/torque sensor," in International IFAC Symposium on Robot Control (SYROCO), 2009.
16. A. Albu-Schäffer, Ch. Ott, and G. Hirzinger, "Passivity based cartesian impedance control for flexible joint manipulators," in IFAC Symposium on Nonlinear Control Systems, 2004.
17. Ch. Ott, A. Albu-Schäffer, A. Kugi, and G. Hirzinger, "On the passivity based impedance control of flexible joint robots," IEEE Transactions on Robotics, vol. 24, no. 2, pp. 416-429, 2008.
18. J. de Jalon and E. Bayo, Kinematic and Dynamic Simulation of Multi-body Systems: The Real-Time Challenge, ser. Mechanical Engineering Series. Springer-Verlag, 1994.
19. H. K. Khalil, Nonlinear Systems, 3rd ed. Prentice Hall, 2002.
20. A. van der Schaft, L2-Gain and Passivity Techniques in Nonlinear Control, 2nd ed. Springer-Verlag, 2000.
21. J. Park, W. Chung, and Y Youm, "On dynamical decoupling of kinematically redundant manipulators," in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 1999, pp. 1495-1500.
22. Ch. Ott, A. Kugi, and Y Nakamura, "Resolving the problem of non-integrability of nullspace velocities for compliance control of redundant manipulators by using semi-definite lyapunov functions," in IEEE Int. Conf. on Robotics and Automation, 2008, pp. 1999-2004.
23. A. Albu-Schäffer, Ch. Ott, U. Frese, and G. Hirzinger, "Cartesian impedance control of redundant robots: Recent results with the dlr-light-weight-arms," in IEEE Int. Conf. on Robotics and Automation, 2003, pp. 3704-3709.