Task-space control of robot manipulators with null-space compliance

IEEE Transactions on Robotics

Volumn 30, Issue 2, 2014, Pages 493-506

  Sadeghian, Hamid ^a   Villani, Luigi ^b   Keshmiri, Mehdi ^c   Siciliano, Bruno ^b  

^a UNIVERSITY OF ISFAHAN   (Iran)

^b UNIVERSITY OF NAPLES FEDERICO II   (Italy)

^c ISFAHAN UNIVERSITY OF TECHNOLOGY   (Iran)

Author keywords

Disturbance observer; null space compliance; task space control

Indexed keywords

ALGORITHMS; ASYMPTOTIC STABILITY; FLEXIBLE MANIPULATORS; HUMAN ROBOT INTERACTION; INDUSTRIAL ROBOTS; MODULAR ROBOTS; ROBOT APPLICATIONS;

COMPLIANT BEHAVIOR; DISTURBANCE OBSERVER; GENERALIZED FORCE; NULL SPACE; ROBOT ARMS; ROBOT MANIPULATOR; TASK EXECUTIONS; TASK-SPACE CONTROL;

COMPLIANCE CONTROL;

EID: 84898485338     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2013.2291630     Document Type: Article

References (45)

1. H. Sadeghian, M. Keshmiri, L. Villani, and B. Siciliano, "Null-space impedance control with disturbance observer," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2012, pp. 2795-2800.
2. A.De Santis, B. Siciliano, A. D. Luca, andA. Bicchi, "An atlas of physical human-robot interaction," Mech. Mach. Theory, vol. 43, pp. 253-270, 2008. (Pubitemid 351163313)
3. A. De Luca, A. Albu-Schaffer, S. Haddadin, and G. Hirzinger, "Collision detection and safe reaction with the DLR-III lightweight robot arm," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2006, pp. 1623-1630. (Pubitemid 46928128)
4. S. Haddadin, A. Albu-Schaffer, A. De Luca, and G. Hirzinger, "Collision detection and reaction: A contribution to safe physical human-robot interaction," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2008, pp. 3356-3363.
5. A. C. Smith, F.Mobasser, andK.Hashtrudi-Zaad, "Neural-network-based contact force observers for haptic applications," IEEE Trans. Robot., vol. 22, no. 6, pp. 1163-1175, Dec. 2006. (Pubitemid 44921745)
6. A. D. Luca and R. Mattone, "Sensorless robot collision detection and hybrid force/motion control," in Proc. IEEE Int. Conf. Robot. Autom., 2005, pp. 999-1004. (Pubitemid 46083924)
7. A. D. Luca and L. Ferrajoli, "Exploiting robot redundancy in collision detection and reaction," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2008, pp. 3299-3305.
8. S. Haddadin, A. Albu-Schaffer, and G. Hirzinger, "Requirements for safe robots: Measurements, analysis and new insights," Int. J. Robot. Res., vol. 28, pp. 1507-1527, 2009.
9. A. Bicchi and G. Tonietti, "Fast and soft arm tactics: Dealing with the safety performance trade-off in robot arms design and control," IEEE Robot. Autom. Mag., vol. 11, no. 2, pp. 22-33, Jun. 2004.
10. D. Tsetserukou and N. Kawakami, "Design, control and evaluation of a whole-sensitive robot arm for physical human-robot interaction," Int. J. Human. Robot., vol. 6, no. 4, pp. 699-725, 2009.
11. A. Albu-Schaffer and G. Hirzinger, "Cartesian impedance control techniques for torque controlled light-weight robots," in Proc. IEEE Int. Conf. Robot. Autom., 2002, pp. 657-663. (Pubitemid 34916671)
12. B. Siciliano and L. Villani, "An inverse kinematics algorithm for interaction control of a flexible arm with a compliant surface," Control Eng. Practice, vol. 9, no. 2, pp. 191-198, 2001. (Pubitemid 32281770)
13. F. Caccavale, P. Chiacchio, A. Marino, and L. Villani, "Six-DOF impedance control of dual-arm cooperative manipulators," IEEE/ASME Trans. Mechatronics, vol. 13, no. 5, pp. 576-586, Oct. 2008.
14. V. Lippiello, B. Siciliano, and L. Villani, "A position-based visual impedance control for robot manipulators," in Proc. IEEE Int. Conf. Robot. Autom., 2007, pp. 2068-2073. (Pubitemid 350140484)
15. D. Tsetserukou, N. Kawakami, and S. Tachi, "iSoRA: Humanoid robot arm for intelligent haptic interaction with the environment," Adv. Robot., vol. 23, pp. 1327-1358, 2009.
16. Y. Li, S. S. Ge, and C. Yang, "Impedance control for multi-point human robot interaction," in Proc. 8th Asian Control Conf., 2011, pp. 1187-1192.
17. Y. Li, S. S. Ge, C. Yang, X. Li, and K. P. Tee, "Model-free impedance control for safe human robot interaction," in Proc. IEEE Int. Conf. Robot. Autom., 2011, pp. 6021-6026.
18. Y. Li, S. S. Ge, and C. Yang, "Learning impedance control for physical robot-environment interaction," Int. J. Control, vol. 85, no. 2, pp. 182-193, 2012.
19. C. Ott, "Cartesian impedance control of redundant and flexible joint robots," in Springer Tracts in Advanced Robotics, vol. 49. New York, NY, USA: Springer, 2008.
20. A. Albu-Schaffer, C. Ott, U. Frese, and G. Hirzinger, "Cartesian impedance control of redundant robots; recent results with theDLR-Light-Weight arms," in Proc. IEEE Int. Conf. Robot. Autom., 2003, pp. 3704-3709.
21. A. Albu-Schaffer, C. Ott, and G. Hirzinger, "A unified passivity based control framework for position, torque and impedance control of flexible joint robots," Int. J. Robot. Res., vol. 26, pp. 23-39, 2007. (Pubitemid 44975085)
22. J. Nakanishi, R. Cory, M. J. Peters, and S. Schaal, "Operational space control: A theoretical and empirical comparison," Int. J. Robot. Res., vol. 27, pp. 737-757, 2008.
23. Y. Nakamura, Advanced Robotics: Redundancy and Optimization. New York, NY, USA: Addison-Wesley, 1991.
24. B. Siciliano and J. J. Slotine, "A general framework formanagingmultiple tasks in highly redundant robotic systems," in Proc. 5th Int. Conf. Adv. Robot., 1991, vol. 2, pp. 1211-1216.
25. O. Khatib, L. Sentis, J. H. Park, and J. Warren, "Whole-body dynamic behavior and control of human-like robots," Int. J. Human. Robot., vol. 1, pp. 29-43, 2004.
26. H. Sadeghian, L. Villani, M. Keshmiri, and B. Siciliano, "Multi-priority control in redundant robotic systems," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2011, pp. 3752-3757.
27. R. Platt, Jr., M. Abdallah, and C. Wampler, "Multiple priority Cartesian impedance control," presented at the Robot.: Sci. Syst. Conf., Zaragoza, Spain, 2010.
28. R. Platt, Jr., M. Abdallah, and C. Wampler, "Multiple priority impedance control," in Proc. IEEE Int. Conf. Robot. Autom., 2011, pp. 6033-6038.
29. M. Diftler, J. Mehling, M. Abdallah, N. Radford, L. Bridgwater, A. Sanders, S. Askew, M. Linn, J. Yamokoski, F. Permenter, B. Hargrave, R. Platt, R. Savely, and R. Ambrose, "Robonaut 2-The first humanoid robot in space," in Proc. IEEE Int. Conf. Robot. Autom., 2011, pp. 2178-2183.
30. Y. Oh,W.Chung, andY.Youm, "Extended impedance control of redundant manipulators based on weighted decomposition of joint space," J. Robot. Syst., vol. 15, no. 5, pp. 231-258, 1998. (Pubitemid 128619676)
31. A. De Luca and G. Oriolo, "Nonholonomic behavior in redundant robots under kinematic control," IEEE Trans. Robot. Autom., vol. 13, no. 5, pp. 776-782, Oct. 1997. (Pubitemid 127767743)
32. C. Ott, A. Kugi, and Y. Nakamura, "Resolving the problem of nonintegrability of null-space velocities for compliance control of redundant manipulators by using semi-definite Lyapunov functions," in Proc. IEEE Int. Conf. Robot. Autom., 2008, pp. 1999-2004.
33. A. Parmiggiani, M. Randazzo, L. Natale, G. Metta, and G. Sandini, "Joint torque sensing for the upper-body of the iCub humanoid robot," in Proc. 9th IEEE-RAS Int. Conf. Human. Robots, 2009, pp. 15-20.
34. B. Siciliano, L. Sciavicco, L. Villani, and G. Oriolo, Robotics: Modelling, Planning and Control. New York, NY, USA: Springer-Verlag, 2009.
35. O. Khatib, "Inertial properties in robotic manipulation: An object-level framework," Int. J. Robot. Res., vol. 14, no. 1, pp. 19-36, 1995.
36. B. Nemec, L. Zlajpah, and D. Omrcen, "Comparison of null-space and minimal null-space control algorithms," Robotica, vol. 25, pp. 511-520, 2007. (Pubitemid 47476036)
37. F. Caccavale, C. Natale, B. Siciliano, and L. Villani, "Resolved acceleration control of robot manipulators: A critical review with experiments," Robotica, vol. 16, pp. 565-573, 1998. (Pubitemid 128608800)
38. A. Iggidr and G. Sallet, "On the stability of nonautonomous systems," Automatica, vol. 39, pp. 167-171, 2003. (Pubitemid 35412307)
39. B. Paden and R. Panja, "Globally asymptotically stable PD+ controller for robot manipulators," Int. J. Control, vol. 47, no. 6, pp. 1697-1712, 1988. (Pubitemid 18632182)
40. V. Santibanez and R. Kelly, "Strict Lyapunov functions for control of robot manipulators," Automatica, vol. 33, no. 4, pp. 675-682, 1997. (Pubitemid 127417100)
41. H. K. Khalil, Nonlinear Systems, 3rd ed. Englewood Cliffs, NJ, USA: Prentice-Hall, 2002.
42. G. Schreiber, A. Stemmer, and R. Bischoff, "The fast research interface for the KUKA lightweight robot," in Proc. IEEE Int. Conf. Robot. Autom., Workshop Innovat. Robot Contr. Architect. Demand. (Res.) Appl., 2010, pp. 15-21.
43. P. Chang, "A closed-form solution for inverse kinematics of robot manipulators with redundancy," IEEE J. Robot. Autom., vol. RA-3, no. 5, pp. 393-403, Oct. 1987. (Pubitemid 18568085)
44. C. Natale, B. Siciliano, and L. Villani, "Spatial impedance control of redundant manipulators," in Proc. IEEE Int. Conf. Robot. Autom., 1999, pp. 1788-1793.
45. J. Park, W. Chung, and Y. Youm, "Characterization of instability of dynamic control for kinematically redundant manipulators," in Proc. IEEE Conf. Robot. Autom., 2002, pp. 2400-2405. (Pubitemid 34916247)