Observer-Based Impedance Control in Robotics
(2001) 5th IFAC Symposium ''Nonlinear Control Systems'' 34. p.369-374- Abstract
- This paper presents theoretical and experimental results on observer-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 on observer-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)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/537844
- author
- Henriksson, Dan
LU
; Johansson, Rolf
LU
and Robertsson, Anders LU
- organization
- publishing date
- 2001
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- IFAC Proceedings Volumes
- volume
- 34
- edition
- 6
- pages
- 6 pages
- conference name
- 5th IFAC Symposium ''Nonlinear Control Systems''
- conference location
- St. Petersburg, Russian Federation
- conference dates
- 2001-07-15
- external identifiers
-
- wos:000180779500065
- DOI
- 10.1016/S1474-6670(17)35202-3
- project
- Sensor-based Integration and Task-level Programming, 1999-2002.
- RobotLab LTH
- Open Control Architectures (Nutek-Complex Technological Systems), 1998-2001.
- Lund Research Programme in Autonomous Robotics, 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
- 2025-04-04 15:28:15
@inproceedings{3b2e8bde-1111-4901-9b53-d42237947d75, abstract = {{This paper presents theoretical and experimental results on observer-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 = {{IFAC Proceedings Volumes}}, language = {{eng}}, pages = {{369--374}}, title = {{Observer-Based Impedance Control in Robotics}}, url = {{http://dx.doi.org/10.1016/S1474-6670(17)35202-3}}, doi = {{10.1016/S1474-6670(17)35202-3}}, volume = {{34}}, year = {{2001}}, }