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Robotic Force Control using Observer-based Strict Positive Real Impedance Control

Johansson, Rolf LU orcid and Robertsson, Anders LU (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:
author
and
organization
publishing date
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
1050-4729
2152-4092
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
2025-10-23 00:13:17
@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         = {{1050-4729}},
  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}},
}