A research work on the interaction control of a cable-actuated robot arm, the Dexter arm, is presented in this paper. Firstly, general considerations on the cable-actuated structures and their application potential are provided and then the Dexter structure peculiarities are accurately analyzed in order to develop proper control solutions. Starting from the analysis of the limitations of the compliance control schemes in Cartesian space and in joint space, previously implemented and experimentally validated on the Dexter arm, a novel control strategy, named impedance-compliance controller, is developed. The proposed control strategy tries to combine the benefits of a compliance control scheme in Cartesian space with the benefits of an impedance control scheme in the operational space by compensating the dynamics of the sole proximal joints. The impedance-compliance controller is capable to achieve accurate smooth motions while guaranteeing functional control of the whole structure, even though a greater computational complexity is required. The last section of the paper, dedicated to the experimental results, points out the differences with the previously experimented control solutions and provides some proofs of the increased Dexter functionality.
An impedance-compliance control for a cable-actuated robot / L., Zollo; Siciliano, Bruno; C., Laschi; G., Teti; P., Dario; E., Guglielmelli. - STAMPA. - 3:(2002), pp. 2268-2273. (Intervento presentato al convegno IEEE International Conference on Intelligent Robots and Systems tenutosi a Lausanne, CH nel September/October) [10.1109/IRDS.2002.1041605].
An impedance-compliance control for a cable-actuated robot
SICILIANO, BRUNO;
2002
Abstract
A research work on the interaction control of a cable-actuated robot arm, the Dexter arm, is presented in this paper. Firstly, general considerations on the cable-actuated structures and their application potential are provided and then the Dexter structure peculiarities are accurately analyzed in order to develop proper control solutions. Starting from the analysis of the limitations of the compliance control schemes in Cartesian space and in joint space, previously implemented and experimentally validated on the Dexter arm, a novel control strategy, named impedance-compliance controller, is developed. The proposed control strategy tries to combine the benefits of a compliance control scheme in Cartesian space with the benefits of an impedance control scheme in the operational space by compensating the dynamics of the sole proximal joints. The impedance-compliance controller is capable to achieve accurate smooth motions while guaranteeing functional control of the whole structure, even though a greater computational complexity is required. The last section of the paper, dedicated to the experimental results, points out the differences with the previously experimented control solutions and provides some proofs of the increased Dexter functionality.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
