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A Perturbation-Robust Framework for Admittance Control of Robotic Systems With High-Stiffness Contacts and Heavy Payload

Title
A Perturbation-Robust Framework for Admittance Control of Robotic Systems With High-Stiffness Contacts and Heavy Payload
Author(s)
Samuel, KangwagyeHaninger, KevinOboe, RobertoHaddadin, SamiOh, Sehoon
Issued Date
2024-07
Citation
IEEE Robotics and Automation Letters, v.9, no.7, pp.6432 - 6439
Type
Article
Author Keywords
Compliance and impedance controlforce controlHuman-Robot Collaborationmotion control
ISSN
2377-3766
Abstract
Applications involving serial manipulators, in both co-manipulation with humans and autonomous operation tasks, require the robot to render high admittance so as to minimize contact forces and maintain stable contacts with high-stiffness surfaces. This can be achieved through admittance control, however, inner loop dynamics limit the bandwidth within which the desired admittance can be rendered from the outer loop. Moreover, perturbations affect the admittance control performance whereas other system specific limitations such as “black box” PD position control in typical industrial manipulators hinder the implementation of more advanced control methods. To address these challenges, a perturbation-robust framework, designed for serial manipulators engaged in contact-rich tasks involving heavy payloads, is introduced in this paper. Within this framework, a generalized perturbation-robust observer (PROB), which exploits the joint velocity measurements and inner loop velocity control model, and accommodates the varying stiffness of contacts through contact force measurements is introduced. Three PROBs including a novel Combined Dynamics Observer (CDYOB) are presented. The CDYOB can render wide-range admittance without bandwidth limitations from the inner loop. Theoretical analyses and experiments with an industrial robot validate the effectiveness of the proposed method. © 2024 The Authors. This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/
URI
http://hdl.handle.net/20.500.11750/56660
DOI
10.1109/LRA.2024.3406055
Publisher
IEEE
Related Researcher
  • 오세훈 Oh, Sehoon
  • Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
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Appears in Collections:
Department of Robotics and Mechatronics Engineering MCL(Motion Control Lab) 1. Journal Articles

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