Authors:
Loris Roveda
;
Federico Vicentini
;
Nicola Pedrocchi
and
Lorenzo Molinari Tosatti
Affiliation:
Institute of Industrial Technologies and Automation (ITIA) of Italian National Research Council (CNR), Italy
Keyword(s):
Force Overshoots Avoidance, Force-tracking Impedance Controls, Interacting Robotics Applications, Compliant Environments.
Related
Ontology
Subjects/Areas/Topics:
Control and Supervision Systems
;
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Real-Time Systems Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
In the presented paper an analytically force overshoots-free approach is described for the execution of robotics
interaction tasks involving a compliant (of unknown geometrical and mechanical properties) environment.
Based on the impedance control, the aim of the work is to perform force-tracking applications avoiding force
overshoots that may result in task failures. The developed algorithm shapes the equivalent stiffness and damping
of the closed-loop manipulator to regulate the interaction dynamics deforming the impedance control
set-point. The force-tracking performance are obtained defining the control gains analytically based on the
estimation of the interacting environment stiffness (performed using an Extended Kalman Filter). The method
has been validated in a probing task, showing the avoidance of force overshoots and the achieved target dynamic
performance.