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Authors: Loris Roveda 1 ; Federico Vicentini 2 ; Nicola Pedrocchi 2 ; Francesco Braghin 3 and Lorenzo Molinari Tosatti 2

Affiliations: 1 National Research Council (CNR) and Politecnico di Milano, Italy ; 2 National Research Council (CNR), Italy ; 3 Politecnico di Milano, Italy

Keyword(s): Variable Impedance Control, Force-tracking Impedance Controls, Interacting Robotics Applications, Compliant Environments.

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Robotics and Automation

Abstract: The impedance shaping control is presented in this paper, providing an extension of standard impedance controller. The method has been conceived to avoid force overshoots in applications where there is the need to track a force reference. Force tracking performance are obtained tuning on-line both the position set-point and the stiffness and damping parameters, based on the force error and on the estimated stiffness of the interacting environment (an Extended Kalman Filter is used). The stability of the presented strategy has been studied through Lyapunov. To validate the performance of the control an assembly task is taken into account, considering the geometrical and mechanical properties of the environment (partially) unknown. Results are compared with constant stiffness and damping impedance controllers, which show force overshoots and instabilities.

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Paper citation in several formats:
Roveda, L.; Vicentini, F.; Pedrocchi, N.; Braghin, F. and Molinari Tosatti, L. (2014). Impedance Shaping Controller for Robotic Applications in Interaction with Compliant Environments. In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-040-6; ISSN 2184-2809, SciTePress, pages 444-450. DOI: 10.5220/0005059504440450

@conference{icinco14,
author={Loris Roveda. and Federico Vicentini. and Nicola Pedrocchi. and Francesco Braghin. and Lorenzo {Molinari Tosatti}.},
title={Impedance Shaping Controller for Robotic Applications in Interaction with Compliant Environments},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2014},
pages={444-450},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005059504440450},
isbn={978-989-758-040-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Impedance Shaping Controller for Robotic Applications in Interaction with Compliant Environments
SN - 978-989-758-040-6
IS - 2184-2809
AU - Roveda, L.
AU - Vicentini, F.
AU - Pedrocchi, N.
AU - Braghin, F.
AU - Molinari Tosatti, L.
PY - 2014
SP - 444
EP - 450
DO - 10.5220/0005059504440450
PB - SciTePress