Compliance Control for Robust Assembly with Redundant Manipulators. Issue 2 (2020)

• Record Type: Journal Article
• Authors: Listmann, Kim D.; Hans, Florian; Wahrburg, Arne
• Is Part Of: IFAC-PapersOnLine. Volume 53:Issue 2(2020)
• Page Start: 8538
• Page End: 8545
• Publication Date: 2020
• Subjects: Hybrid force/motion control -- redundant manipulators -- impedance control -- unstructured environments -- stability analysis; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2020.12.1413
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: Given the problem of static and dynamic contact stability of manipulators, this work extends classical hybrid force/motion control by introducing an additional feedback part to allow smooth environmental contact of the robot. The extension is the outcome of an in-depth stability analysis of velocity-controlled manipulators in passive environments and can be considered the first of its kind. In addition to this theoretical contribution, the application to a redundant 7-DoF robot confirms the achievable benefit compared to the classical implementation w.r.t. transient effects (like positional deviation or exerted force) in the event of an environmental contact.