This paper addresses the problem of controlling a robot arm executing a cooperative task with a human who guides the robot through direct physical interaction. This problem is tackled by allowing the end effector to comply according to an impedance control law defined in the Cartesian space. While, in principle, the robot's dynamics can be fully compensated and any impedance behaviour can be imposed by the control, the stability of the coupled human-robot system is not guaranteed for any value of the impedance parameters. Moreover, if the robot is kinematically or functionally redundant, the redundant degrees of freedom play an important role. The idea proposed here is to use redundancy to ensure a decoupled apparent inertia at the end effector. Through an extensive experimental study on a 7-DOF KUKA LWR4 arm, we show that inertial decoupling enables a more flexible choice of the impedance parameters and improves the performance during manual guidance.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Cartesian impedance control of redundant manipulators for human-robot co-manipulation



    Erscheinungsdatum :

    2014-01-01



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Redundancy resolution in human-robot co-manipulation with cartesian impedance control

    FICUCIELLO, FANNY / VILLANI, LUIGI / SICILIANO, BRUNO | BASE | 2016

    Freier Zugriff

    Variable Impedance Control of Redundant Manipulators for Intuitive Human–Robot Physical Interaction

    FICUCIELLO, FANNY / VILLANI, LUIGI / SICILIANO, BRUNO | BASE | 2015

    Freier Zugriff


    Adaptive Impedance Control Of Redundant Manipulators

    Seraji, Homayoun / Colbaugh, Richard D. / Glass, Kristin L. | NTRS | 1994


    Direct Adaptive Impedance Control Of Redundant Manipulators

    Seraji, Homayoun / Colbaugh, Richard D. / Glass, Kristin L. | NTRS | 1995