This paper addresses the problem of controlling a robot arm executing a cooperative task with a human who guides the robot through direct physical interaction. This problem is tackled by allowing the end effector to comply according to an impedance control law defined in the Cartesian space. While, in principle, the robot's dynamics can be fully compensated and any impedance behaviour can be imposed by the control, the stability of the coupled human-robot system is not guaranteed for any value of the impedance parameters. Moreover, if the robot is kinematically or functionally redundant, the redundant degrees of freedom play an important role. The idea proposed here is to use redundancy to ensure a decoupled apparent inertia at the end effector. Through an extensive experimental study on a 7-DOF KUKA LWR4 arm, we show that inertial decoupling enables a more flexible choice of the impedance parameters and improves the performance during manual guidance.
Cartesian impedance control of redundant manipulators for human-robot co-manipulation / Ficuciello, Fanny; Romano, Amedeo; Villani, Luigi; Siciliano, Bruno. - (2014), pp. 2120-2125. (Intervento presentato al convegno 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 tenutosi a Palmer House Hilton Hotel, usa nel 2014) [10.1109/IROS.2014.6942847].
Cartesian impedance control of redundant manipulators for human-robot co-manipulation
FICUCIELLO, FANNY;VILLANI, LUIGI;SICILIANO, BRUNO
2014
Abstract
This paper addresses the problem of controlling a robot arm executing a cooperative task with a human who guides the robot through direct physical interaction. This problem is tackled by allowing the end effector to comply according to an impedance control law defined in the Cartesian space. While, in principle, the robot's dynamics can be fully compensated and any impedance behaviour can be imposed by the control, the stability of the coupled human-robot system is not guaranteed for any value of the impedance parameters. Moreover, if the robot is kinematically or functionally redundant, the redundant degrees of freedom play an important role. The idea proposed here is to use redundancy to ensure a decoupled apparent inertia at the end effector. Through an extensive experimental study on a 7-DOF KUKA LWR4 arm, we show that inertial decoupling enables a more flexible choice of the impedance parameters and improves the performance during manual guidance.File | Dimensione | Formato | |
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