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The aim of this paper is to prove that the manipulator is able to contact the environment compliantly, and reduce the instantaneous collision impact.
Cartesian impedance control law is introduced to interrelate the external force with the Cartesian position.
When the estimated external force sensor feedback is the input of the on-line trajectory regeneration, a novel online motion plan could be performed in a task-consistent manner keeping the interaction force within the acceptable tolerance. The proposed approach also proves that the manipulator is able to contact the environment compliantly, and reduce the instantaneous collision impact. The virtual decomposition control, simplifying the Cartesian impedance control application of the manipulator and guaranteeing the asymptotical stability of the entire system, is implemented to actualize the approach. Furthermore, adaptive dynamics joint controller is extended to all the joints for complementing the biggish friction.
With the proposed adaptive Cartesian impedance control and the online path planner, the robot will be manipulation-friendly in an unstructured environment.
An approach of integrating force sensing and safety operation for manipulator
International Journal of Intelligent Unmanned Systems ; 1 , 1 ; 62-75
2013-02-08
14 pages
Article (Journal)
Electronic Resource
English
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