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Observer-Based Impedance Control in Robotics

Henriksson, Dan LU ; Johansson, Rolf LU and Robertsson, Anders LU (2001) 5th IFAC Symposium ''Nonlinear Control Systems'' In Nonlinear Control Systems 2001 p.369-374
Abstract
This paper presents theoretical and experimental results onobserver-based impedance control. Impedance control is a technique for robot force control, which is often used to deal with geometric uncertainty. The aim of this technique is to obtain a dynamic relation between position and force in interaction similar to Newton's second law. Here the velocity is used to modify the damping of the impedance relation.Since the velocity is not measurable, which is often the case for industrial robots, an observer is designed to reconstruct it. A good model of the robot joint used is obtained by system identification. Results on observer-based SPR feedback are applied in the design, and the stability issue is approached by a modified Popov... (More)
This paper presents theoretical and experimental results onobserver-based impedance control. Impedance control is a technique for robot force control, which is often used to deal with geometric uncertainty. The aim of this technique is to obtain a dynamic relation between position and force in interaction similar to Newton's second law. Here the velocity is used to modify the damping of the impedance relation.Since the velocity is not measurable, which is often the case for industrial robots, an observer is designed to reconstruct it. A good model of the robot joint used is obtained by system identification. Results on observer-based SPR feedback are applied in the design, and the stability issue is approached by a modified Popov criterion.The experiments are carried out on an ABB industrial robot 2000 at the Department of Automatic Control in Lund, Sweden. (Less)
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
Nonlinear Control Systems 2001
pages
369 - 374
publisher
Elsevier
conference name
5th IFAC Symposium ''Nonlinear Control Systems''
external identifiers
  • WOS:000180779500065
language
English
LU publication?
yes
id
3b2e8bde-1111-4901-9b53-d42237947d75 (old id 537844)
date added to LUP
2007-09-19 16:00:42
date last changed
2016-09-23 15:15:29
@misc{3b2e8bde-1111-4901-9b53-d42237947d75,
  abstract     = {This paper presents theoretical and experimental results onobserver-based impedance control. Impedance control is a technique for robot force control, which is often used to deal with geometric uncertainty. The aim of this technique is to obtain a dynamic relation between position and force in interaction similar to Newton's second law. Here the velocity is used to modify the damping of the impedance relation.Since the velocity is not measurable, which is often the case for industrial robots, an observer is designed to reconstruct it. A good model of the robot joint used is obtained by system identification. Results on observer-based SPR feedback are applied in the design, and the stability issue is approached by a modified Popov criterion.The experiments are carried out on an ABB industrial robot 2000 at the Department of Automatic Control in Lund, Sweden.},
  author       = {Henriksson, Dan and Johansson, Rolf and Robertsson, Anders},
  language     = {eng},
  pages        = {369--374},
  publisher    = {ARRAY(0x9822528)},
  series       = {Nonlinear Control Systems 2001},
  title        = {Observer-Based Impedance Control in Robotics},
  year         = {2001},
}