An impedance controller for industrial manipulators is presented in this paper. Special attention has been paid to all the aspects that qualify an industrial robot, including decentralized proportional-integral-derivative position control, torsional flexibility, and friction at the joints. A discussion of a single-degree-of-freedom (DOF) case is first presented. The selection of the impedance parameters is based on the behavior in contact and makes reference to a new design parameter, the compliance bandwidth. The single-DOF analysis is then used in the design of the impedance controller for a complete manipulator. A rotational impedance based on a geometrically consistent representation of the orientation is used. Several experimental results obtained on a 6-DOF industrial robot, equipped with a force/torque sensor, are presented. The experiments show the effectiveness of the proposed approach in several conditions, including contact with an extremely stiff surface and noncontact/contact transition.

Impedance control for elastic joints industrial manipulators

FERRETTI, GIANNI;MAGNANI, GIANANTONIO;ROCCO, PAOLO
2004-01-01

Abstract

An impedance controller for industrial manipulators is presented in this paper. Special attention has been paid to all the aspects that qualify an industrial robot, including decentralized proportional-integral-derivative position control, torsional flexibility, and friction at the joints. A discussion of a single-degree-of-freedom (DOF) case is first presented. The selection of the impedance parameters is based on the behavior in contact and makes reference to a new design parameter, the compliance bandwidth. The single-DOF analysis is then used in the design of the impedance controller for a complete manipulator. A rotational impedance based on a geometrically consistent representation of the orientation is used. Several experimental results obtained on a 6-DOF industrial robot, equipped with a force/torque sensor, are presented. The experiments show the effectiveness of the proposed approach in several conditions, including contact with an extremely stiff surface and noncontact/contact transition.
2004
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/556119
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