Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Robust Impedance Control of Kinematically Redundant Manipulator Based on Disturbance Observer

외란 관측기에 의한 기구학적 여유자유도 매니퓰레이터의 강인한 임피던스 제어

  • Published : 2002.11.01
Download PDF
⟨ Previous Next ⟩

Abstract

Design method of a robust impedance control is proposed for the kinematically redundant manipulators. To achieve this objective, we first use the momentum feedback disturbance observer(MFDOB) scheme which can handle the nonlinear dynamics of a manipulator in Joint space. An extended task space formulation to describe the behaviors of task and null spaces of redundant manipulator is employed. Using the extended task space formulation and disturbance observer scheme, a robust impedance control method is designed. The performance of the proposed extended impedance controller is verified through experiments with a planar three links direct-drive manipulator.

Keywords

References

  1. N. Oda, T. Murakami and K. Ohnishi, 'Observer based local torque optimization in redundant manipulator,' Proc. of IEEE Int. Conf. on Industrial Electronics, pp. 1915-1921, 1996 https://doi.org/10.1109/IECON.1996.570767
  2. N. Oda, T. Murakami and K. Ohnishi, 'Null space damping method for robust controlled redundant manipulator,' Proc. of IEEE Int. Conf. on Industrial Electronics, pp. 755-759, 1994 https://doi.org/10.1109/IECON.1994.397880
  3. N. Oda, H. Ohta, T. Murakami and K. Ohnishi, 'A robust impedance control strategy for redundant manipulators,' Proc. of IEEE Int. Conf. on Industrial Electronics, pp. 1254-1259, 1995 https://doi.org/10.1109/IECON.1995.483977
  4. M. Nakano, K. Ohnishi and K. Miyachi, 'A robust decentralized joint control based on interference estimation,' Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 326-331, 1987
  5. Y. Oh, W. K. Chung, Y. Youm and I. H. Suh, 'Disturbance observer based motion control of redundant manipulators using weighted decomposition,' Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1781-1786, 1997 https://doi.org/10.1109/IROS.1997.656602
  6. D. N. Nenchev, 'Redundancy resolution through local optimization: a review,' J. of Robotic Systems, Vol. 6, No. 6, pp. 769-798, 1989 https://doi.org/10.1002/rob.4620060607
  7. O. Khatib, 'A unified approach for motion and force control of robot manipulators: The operational space formulation,' IEEE J. of Robotics and Automation, Vol. RA-3, No. 1, pp. 43-53, Feb., 1987
  8. Y. Oh, W. K. Chung and Y. Youm, 'Extended impedance control of redundant manipulators based on weighted decomposition of joint space,' J. of Robotic Systems, Vol. 15, No. 5, pp. 231-258, 1998 https://doi.org/10.1002/(SICI)1097-4563(199805)15:5<231::AID-ROB1>3.0.CO;2-P
  9. N. Hogan, 'Impedance control: An approach to manipulation,' Part I-III, Trans. of the ASME J. of Dyn., Syst., Meas., and Contr., Vol 107, No. 1, pp. 1-24, Mar., 1985 https://doi.org/10.1115/1.3140702
  10. W. S Newman and M E Ebhring, 'Augmented impedance control: An approach to compliant control of kinematically redundant manipulators,' Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 30-35, 1990 https://doi.org/10.1109/ROBOT.1991.131548
  11. Z. X. Peng and N. Adachi, 'Compliant motion control of kinematically redundant manipulators,' IEEE Trans. on Robotics and Automation, Vol. 9, No. 6, pp. 831-837, Dec., 1993 https://doi.org/10.1109/70.265926
  12. T. Tsuji and A. Jazidie, 'Impedance control of redundant manipulators: An approach to joint impedance regulation utilizing kinematic redundancy,' J. of the Robotic Society of Japan, Vol. 12, No. 4, pp. 609-615, 1994(in Japanese) https://doi.org/10.7210/jrsj.12.609
  13. W. S. Newman, 'Stability and performance limits of interaction controllers,' Trans. of the ASME J. of Dyn., Syst., Meas., and Contr., Vol. 114, pp. 563-570, Dec, 1992 https://doi.org/10.1115/1.2897725
  14. T. Yoshikawa, 'Analysis and control of robot manipulators with redundancy,' The First Int. Symp. of Robotic Research, M. Brady and R. Paul, Eds. Cambridge, MA:MIT Press, pp. 735-747, 1984