A C++ Implementation of a Cartesian Impedance Controller for Robotic Manipulators
(2024) In Journal of Open Source Software 9(93). p.5194-5200- Abstract
- Cartesian impedance control is a type of motion control strategy for robots that improves safety in partially unknown environments by achieving a compliant behavior of the robot with respect to its external forces. This compliant robot behavior has the added benefit of allowing physical human guidance of the robot. In this paper, we propose a C++ implementation of compliance control valid for any torque-commanded robotic manipulator. The proposed controller implements Cartesian impedance control to track a desired end-effector pose. Additionally, joint impedance is projected in the nullspace of the Cartesian robot motion to track a desired robot joint configuration without perturbing the Cartesian motion of the robot. The proposed... (More)
- Cartesian impedance control is a type of motion control strategy for robots that improves safety in partially unknown environments by achieving a compliant behavior of the robot with respect to its external forces. This compliant robot behavior has the added benefit of allowing physical human guidance of the robot. In this paper, we propose a C++ implementation of compliance control valid for any torque-commanded robotic manipulator. The proposed controller implements Cartesian impedance control to track a desired end-effector pose. Additionally, joint impedance is projected in the nullspace of the Cartesian robot motion to track a desired robot joint configuration without perturbing the Cartesian motion of the robot. The proposed implementation also allows the robot to apply desired forces and torques to its environment. Several safety features such as filtering, rate limiting, and saturation are included in the proposed implementation. The core functionalities are in a re-usable base library and a Robot Operating System (ROS) ros_control integration is provided on top of that. The implementation was tested with the KUKA LBR iiwa robot and the Franka Emika Robot (Panda) both in simulation and with the physical robots. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/fa56efed-1390-4933-8bc8-976e88a259a9
- author
- Mayr, Matthias LU and Salt Ducaju, Julian LU
- organization
- publishing date
- 2024-01-23
- type
- Contribution to journal
- publication status
- published
- subject
- in
- Journal of Open Source Software
- volume
- 9
- issue
- 93
- pages
- 6 pages
- ISSN
- 2475-9066
- DOI
- 10.21105/joss.05194
- project
- RobotLab LTH
- Efficient Learning of Robot Skills
- Robotics and Semantic Systems
- WASP Professor Package: Cognitive Robots for Manufacturing
- language
- English
- LU publication?
- yes
- id
- fa56efed-1390-4933-8bc8-976e88a259a9
- date added to LUP
- 2024-02-05 13:49:06
- date last changed
- 2024-02-06 08:35:46
@article{fa56efed-1390-4933-8bc8-976e88a259a9, abstract = {{Cartesian impedance control is a type of motion control strategy for robots that improves safety in partially unknown environments by achieving a compliant behavior of the robot with respect to its external forces. This compliant robot behavior has the added benefit of allowing physical human guidance of the robot. In this paper, we propose a C++ implementation of compliance control valid for any torque-commanded robotic manipulator. The proposed controller implements Cartesian impedance control to track a desired end-effector pose. Additionally, joint impedance is projected in the nullspace of the Cartesian robot motion to track a desired robot joint configuration without perturbing the Cartesian motion of the robot. The proposed implementation also allows the robot to apply desired forces and torques to its environment. Several safety features such as filtering, rate limiting, and saturation are included in the proposed implementation. The core functionalities are in a re-usable base library and a Robot Operating System (ROS) ros_control integration is provided on top of that. The implementation was tested with the KUKA LBR iiwa robot and the Franka Emika Robot (Panda) both in simulation and with the physical robots.}}, author = {{Mayr, Matthias and Salt Ducaju, Julian}}, issn = {{2475-9066}}, language = {{eng}}, month = {{01}}, number = {{93}}, pages = {{5194--5200}}, series = {{Journal of Open Source Software}}, title = {{A C++ Implementation of a Cartesian Impedance Controller for Robotic Manipulators}}, url = {{http://dx.doi.org/10.21105/joss.05194}}, doi = {{10.21105/joss.05194}}, volume = {{9}}, year = {{2024}}, }