Industrial compliant robot bases in interaction tasks: a force tracking algorithm with coupled dynamics compensation. Issue 8 (7th July 2016)

• Record Type: Journal Article
• Authors: Roveda, Loris; Pedrocchi, Nicola; Vicentini, Federico; Molinari Tosatti, Lorenzo
• Is Part Of: Robotica. Volume 35:Issue 8(2017)
• Page Start: 1732
• Page End: 1746
• Publication Date: 2016-07-07
• Subjects: Interaction control, -- Model based control, -- Compliant robot base compensation, -- Impedance control, -- Industrial robotics; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574716000461
• Languages: English
• ISSNs: 0263-5747

Abstract

SUMMARY: Light-weight manipulators are used in industrial tasks mounted on mobile platforms to improve flexibility. However, such mountings introduce compliance affecting the tasks. This work deals with such scenarios by designing a controller that also takes into account compliant environments. The controller allows the tracking of a target force using the estimation of the environment stiffness (EKF) and the estimation of the base position (KF), compensating the robot base deformation. The closed-loop stability has been analyzed. Observers and the control law have been validated in experiments. An assembly task is considered with a standard industrial non-actuated mobile platform. Control laws with and without base compensation are compared.