In this paper, the impedance control paradigm is used to design control algorithms for safe human-robot collaboration. In particular, the problem of controlling a redundant robot manipulator in task space, while guaranteeing a compliant behavior for the redundant degrees of freedom, is considered first. The proposed approach allows safe and dependable reaction of the robot during deliberate or accidental physical interaction with a human or the environment, thanks to null-space impedance control. Moreover, the case of control for co-manipulation is considered. In particular, the role of the kinematic redundancy and that of the impedance parameters modulation are investigated. The algorithms are verified through experiments on a 7R KUKA lightweight robot arm.

Impedance control of redundant manipulators for safe human-robot collaboration / Ficuciello, Fanny; Villani, Luigi; Siciliano, Bruno. - In: ACTA POLYTECHNICA HUNGARICA. - ISSN 1785-8860. - 13:1(2016), pp. 223-238. [10.12700/APH.13.1.2016.1.15]

Impedance control of redundant manipulators for safe human-robot collaboration

FICUCIELLO, FANNY;VILLANI, LUIGI;SICILIANO, BRUNO
2016

Abstract

In this paper, the impedance control paradigm is used to design control algorithms for safe human-robot collaboration. In particular, the problem of controlling a redundant robot manipulator in task space, while guaranteeing a compliant behavior for the redundant degrees of freedom, is considered first. The proposed approach allows safe and dependable reaction of the robot during deliberate or accidental physical interaction with a human or the environment, thanks to null-space impedance control. Moreover, the case of control for co-manipulation is considered. In particular, the role of the kinematic redundancy and that of the impedance parameters modulation are investigated. The algorithms are verified through experiments on a 7R KUKA lightweight robot arm.
2016
Impedance control of redundant manipulators for safe human-robot collaboration / Ficuciello, Fanny; Villani, Luigi; Siciliano, Bruno. - In: ACTA POLYTECHNICA HUNGARICA. - ISSN 1785-8860. - 13:1(2016), pp. 223-238. [10.12700/APH.13.1.2016.1.15]
Impedance control of redundant manipulators for safe human-robot collaboration / Ficuciello, Fanny; Villani, Luigi; Siciliano, Bruno. - In: ACTA POLYTECHNICA HUNGARICA. - ISSN 1785-8860. - 13:1(2016), pp. 223-238. [10.12700/APH.13.1.2016.1.15]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/632938
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