[1] Liu Yechao, Jin Minghe, Liu Hong,. Joint torque-based Cartesian impedance controlwith friction compensations [J]. Journal of Southeast University (English Edition), 2008, 24 (4): 492-497. [doi:10.3969/j.issn.1003-7985.2008.04.019]
Copy
Joint torque-based Cartesian impedance controlwith friction compensations(
)
摩擦补偿下基于关节力矩的笛卡尔阻抗控制
)Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]
- Volumn:
- 24
- Issue:
- 2008 4
- Page:
- 492-497
- Research Field:
- Automation
- Publishing date:
- 2008-12-30
Info
- Title:
- Joint torque-based Cartesian impedance controlwith friction compensations
- 摩擦补偿下基于关节力矩的笛卡尔阻抗控制
- Author(s):
- Liu Yechao, Jin Minghe, Liu Hong
- Robotics Institute, Harbin Institute of Technology, Harbin 150001, China
- Keywords:
- Cartesian impedance control; harmonic drive; friction identification; friction compensation; joint torque
- PACS:
- TP242
- DOI:
- 10.3969/j.issn.1003-7985.2008.04.019
- Abstract:
- In order to investigate the joint torque-based Cartesian impedance control strategies and the influence of compensations for friction, an experimental study on the identification of friction parameters, friction compensation and the Cartesian impedance control are developed for the harmonic drive robot, by using the sensors available in the joint itself. Different from the conventional Cartesian impedance control schemes which are mostly based on the robot end force/torque information, five joint torque-based Cartesian impedance control schemes are considered, including the force-based schemes in Cartesian/joint space, the position-based schemes in Cartesian/joint space and the stiffness control. Four of them are verified by corresponding experiments with/without friction compensations.By comparison, it is found that the force-based impedance control strategy is more suitable than the position-based one for the robot based on joint torque feedback and the friction has even a positive effect on Cartesian impedance control stability.
- 为了研究基于关节力矩信息的笛卡尔阻抗控制策略及摩擦补偿的影响, 利用关节本身具有的传感器, 进行了辨识谐波驱动摩擦参数、摩擦补偿和笛卡尔阻抗控制的实验研究.与传统的基于机器人末端力/力矩信息的笛卡尔阻抗控制方案不同, 考虑了5种基于关节力矩的笛卡尔阻抗控制方案, 包括笛卡尔空间/关节空间基于力的、笛卡尔空间/关节空间基于位置的方案和刚度控制.其中, 前4种方案分别在有/无摩擦补偿的条件下进行了相应的实验验证.实验比较结果表明:对于基于关节力矩信息来实现笛卡尔阻抗控制的机器人, 基于力的阻抗控制策略比基于位置的策略更适合, 并且摩擦对这类笛卡尔阻抗控制的稳定性有积极影响.
References:
[1] Gandhi P S, Ghorbel F H, Dabney J. Modeling, identification, and compensation of friction in harmonic drives[C]//Proc of IEEE the 41st Conference on Decision and Control.Las Vegas, 2002:160-166.
[2] Tuttle T D, Seering W P.A nonlinear model of a harmonic drive gear transmission[J].IEEE Trans Robot Automat, 1996, 12(3):368-374.
[3] Kircanski N M, Goldenberg A A.An experimental study of nonlinear stiffness, hysteresis, and friction effects in robot joints with harmonic drives and torque sensors[J].Int J Robot Res, 1997, 16(2):214-239.
[4] Taghirad H D.On the modeling and identification of harmonic drive systems, Technical Report CIM-TR-97-02 [R].McGill University, 1997.
[5] Bonitz R G, Hisa T C.Internal force-based impedance control for cooperating manipulators[J].IEEE Trans Robot Automat, 1996, 12(1):78-89.
[6] Schneider S A, Cannon R H Jr.Object impedance control for cooperative manipulation:theory and experimental results[J].IEEE Trans Robot Automat, 1992, 8(3):383-394.
[7] Gonzalez J J, Widmann G R.A force commanded impedance control scheme for robots with hard nonlinearities[J].IEEE Trans Control System Tech, 1995, 3(4):398-408.
[8] Albu-Schäffer A, Ott C, Freses U, et al.Cartesian impedance control of redundant robots:recent results with the DLR-light-weight-arms[C]//Proceedings of the IEEE Int Conference on Robotics and Automation.Taipei, China, 2003:14-19.
[9] Albu-Schäffer A, Ott C, Hirzinger G.Passivity based Cartesian impedance control for flexible joint manipulators[C]//6th IFAC Symposium on Nonlinear Control Systems.Stuttgart, 2004:1175-1180.
[10] Ott C, Albu-Schäffer A, Kugiy A, et al.A passivity based Cartesian impedance controller for flexible joint robots—part Ⅰ:torque feedback and gravity compensation[C]//Proceedings of the IEEE Int Conference on Robotics and Automation.New Orleans, 2004:2659-2665.
[11] Albu-Schäffer A, Ott C, Hirzinger G.A passivity based Cartesian impedance controller for flexible joint robots—part Ⅱ:full state feedback, impedance design and experiments[C]//Proceedings of the IEEE Int Conference on Robotics and Automation.New Orleans, 2004:2666-2672.
[12] Albu-Schäffer A, Ott C, Hirzinger G.A unified passivity based control framework for position, torque and impedance control of flexible joint robots[C]//Int Symposium on Robotics Research.San Francisco, 2005:5-21.
[13] Albu-Schäffer A, Hirzinger G.Cartesian impedance control techniques for torque controlled light-weight robots[C]//Proceedings of Int Conference on Robotics and Automation.Washington DC, 2002:657-663.
[14] Salisbury J K.Active stiffness control of a manipulator in Cartesian coordinates[C]//Proceedings of the 19th IEEE Conference on Decision and Control.Alburquerque, NM, 1980:83-88.
[15] Kennedy C W, Desai J P.Modeling and control of the Mitsubishi PA-10 robot arm harmonic drive system[J].IEEE/ASME Trans Mechatronics, 2005, 10(3):263-274.
[16] Armstrong-Helouvry B.Control of machines with friction[M].Norwell, MA:Kluwer, 1991:97-103.
Memo
- Memo:
-
Biographies: Liu Yechao(1980—), male, graduate;Liu Hong(corresponding author), male, doctor, professor, dlrhitlab@yahoo.com.cn.
Foundation items: The National Natural Science Foundation of China(No.60675045), the National High Technology Research and Development Program of China(863 Program)(No.2006AA04Z255).
Citation: Liu Yechao, Jin Minghe, Liu Hong.Joint torque-based Cartesian impedance control with friction compensations[J].Journal of Southeast University(English Edition), 2008, 24(4):492-497.