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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'' 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
; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
Nonlinear Control Systems 2001
pages
369 - 374
publisher
Elsevier
conference name
5th IFAC Symposium ''Nonlinear Control Systems''
conference location
St. Petersburg, Russian Federation
conference dates
2001-07-15
external identifiers
  • wos:000180779500065
project
Sensor-based Integration and Task-level Programming, 1999-2002.
Lund Research Programme in Autonomous Robotics, 1998-2001
LU Robotics Laboratory
Open Control Architectures (Nutek-Complex Technological Systems), 1998-2001.
language
English
LU publication?
yes
id
3b2e8bde-1111-4901-9b53-d42237947d75 (old id 537844)
date added to LUP
2016-04-04 09:58:17
date last changed
2019-12-11 09:36:29
@inproceedings{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},
  booktitle    = {Nonlinear Control Systems 2001},
  language     = {eng},
  pages        = {369--374},
  publisher    = {Elsevier},
  title        = {Observer-Based Impedance Control in Robotics},
  year         = {2001},
}