[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]

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Joint torque-based Cartesian impedance controlwith friction compensations()

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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

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.

References:

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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.

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