Robotic Force Control using Observer-based Strict Positive Real Impedance Control
(2003) 3. p.3686-3691- Abstract
- This paper presents theoretical and experimentalresults on observer-based impedance control for forcecontrol without velocity feedback. As the velocity may notavailable to measurement, which is often the case for industrialrobots, an observer was designed to reconstruct velocityin such a way that it be useful for stabilizing feedbackcontrol and to modification of the damping in the impedancerelationship. A good model of the robot joint used wasobtained by system identification. Experiments were carriedout on an ABB industrial robot 2000 to demonstrate resultson observer-based SPR feedback applied in the design.Stability was shown via a modified Popov criterion.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/536772
- author
- Johansson, Rolf LU and Robertsson, Anders LU
- organization
- publishing date
- 2003
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- velocity feedback, stability, robotic force control, observer, industrial robots, impedance control, feedback control, ABB industrial robot 2000, Popov criterion
- host publication
- Proceedings. ICRA '03.
- volume
- 3
- pages
- 3686 - 3691
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- external identifiers
-
- wos:000187419900592
- scopus:0344464852
- ISSN
- 2152-4092
- 1050-4729
- ISBN
- 0-7803-7736-2
- DOI
- 10.1109/ROBOT.2003.1242162
- project
- RobotLab LTH
- Sensor-based Integration and Task-level Programming, 1999-2002.
- Lund Research Programme in Autonomous Robotics, 1998-2001
- language
- English
- LU publication?
- yes
- id
- 4e6e0366-fa91-402a-b695-a97112338ecd (old id 536772)
- date added to LUP
- 2016-04-01 11:41:14
- date last changed
- 2024-07-01 17:49:06
@inproceedings{4e6e0366-fa91-402a-b695-a97112338ecd, abstract = {{This paper presents theoretical and experimentalresults on observer-based impedance control for forcecontrol without velocity feedback. As the velocity may notavailable to measurement, which is often the case for industrialrobots, an observer was designed to reconstruct velocityin such a way that it be useful for stabilizing feedbackcontrol and to modification of the damping in the impedancerelationship. A good model of the robot joint used wasobtained by system identification. Experiments were carriedout on an ABB industrial robot 2000 to demonstrate resultson observer-based SPR feedback applied in the design.Stability was shown via a modified Popov criterion.}}, author = {{Johansson, Rolf and Robertsson, Anders}}, booktitle = {{Proceedings. ICRA '03.}}, isbn = {{0-7803-7736-2}}, issn = {{2152-4092}}, keywords = {{velocity feedback; stability; robotic force control; observer; industrial robots; impedance control; feedback control; ABB industrial robot 2000; Popov criterion}}, language = {{eng}}, pages = {{3686--3691}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, title = {{Robotic Force Control using Observer-based Strict Positive Real Impedance Control}}, url = {{https://lup.lub.lu.se/search/files/2595083/625641.pdf}}, doi = {{10.1109/ROBOT.2003.1242162}}, volume = {{3}}, year = {{2003}}, }