Walk-through programming for robotic manipulators based on admittance control

被引：37
作者：
Bascetta, Luca [1 ]
Ferretti, Gianni [1 ]
Magnani, Gianantonio [1 ]
Rocco, Paolo [1 ]
机构：
[1] Politecn Milan, Dipartimento Elettron Informaz & Bioingn, I-20133 Milan, Italy
来源：
ROBOTICA | 2013年 / 31卷
关键词：
Force control; Control of robotic systems; Haptic interfaces; Man-Machine systems; Automation; COORDINATION;
D O I：
10.1017/S0263574713000404
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The present paper addresses the issues that should be covered in order to develop walk-through programming techniques (i.e. a manual guidance of the robot) in an industrial scenario. First, an exact formulation of the dynamics of the tool the human should feel when interacting with the robot is presented. Then, the paper discusses a way to implement such dynamics on an industrial robot equipped with an open robot control system and a wrist force/torque sensor, as well as the safety issues related to the walk-through programming. In particular, two strategies that make use of admittance control to constrain the robot motion are presented. One slows down the robot when the velocity of the tool centre point exceeds a specified safety limit, the other one limits the robot workspace by way of virtual safety surfaces. Experimental results on a COMAU Smart Six robot are presented, showing the performance of the walk-through programming system endowed with the two proposed safety strategies.
引用
收藏
页码：1143 / 1153
页数：11
相关论文
共 50 条
  • [21] Active Impedance Control of Bioinspired Motion Robotic Manipulators: An Overview
    Al-Shuka, Hayder F. N.
    Leonhardt, Steffen
    Zhu, Wen-Hong
    Song, Rui
    Ding, Chao
    Li, Yibin
    [J]. APPLIED BIONICS AND BIOMECHANICS, 2018, 2018
  • [22] Fuzzy predictive algorithms applied to force control of robotic manipulators
    Sousa, JM
    Baptista, LF
    da Costa, JMGS
    [J]. ALGORITHMS AND ARCHITECTURES FOR REAL-TIME CONTROL 2000, 2000, : 81 - 86
  • [23] Force Control of Robotic Manipulators Using a Fuzzy Predictive Approach
    L. F. Baptista
    J. M. Sousa
    J. Sá da Costa
    [J]. Journal of Intelligent and Robotic Systems, 2001, 30 : 359 - 376
  • [24] Motion and force control of cooperative robotic manipulators with passive joints
    Tinos, Renato
    Terra, Marco Henrique
    Ishihara, Joao Yoshiyuki
    [J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2006, 14 (04) : 725 - 734
  • [25] Robotic Machining from Programming to Process Control
    Pan, Zengxi
    Zhang, Hui
    [J]. 2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23, 2008, : 553 - +
  • [26] Admittance Force Tracking Control for Position-Controlled Robot Manipulators Under Unknown Environment
    Jung, Seul
    [J]. 2020 20TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS), 2020, : 219 - 224
  • [27] Adaptive Neural Network Tracking Control for Robotic Manipulators With Dead Zone
    Zhou, Qi
    Zhao, Shiyi
    Li, Hongyi
    Lu, Renquan
    Wu, Chengwei
    [J]. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS, 2019, 30 (12) : 3611 - 3620
  • [28] On The Control Of Tendon Based Parallel Manipulators
    Sturm, Christian
    Schramm, Dieter
    [J]. ROBOTICS AND AUTOMATION SYSTEMS, 2010, 166-167 : 395 - 402
  • [29] Adaptive Fixed Time Parameter Estimation and Synchronization Control for Multiple Robotic Manipulators
    Chen, Qiang
    Gao, Miaomiao
    Tao, Liang
    Nan, Yurong
    [J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2019, 17 (09) : 2375 - 2387
  • [30] Adaptive control of single rigid robotic manipulators interacting with dynamic environment - An overview
    Vukobratovic, M
    Tuneski, A
    [J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 1996, 17 (01) : 1 - 30
12345