Hybrid impedance control in constraint coordinates using a disturbance observer

Many contact tasks are more easily defined in terms of constraint equations (and therefore constraint coordinates), rather than either Cartesian or joint coordinates. Deburring and grinding are examples of two such tasks. Hybrid impedance control has been a popular force control algorithm for these...

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Bibliographic Details
Published inProceedings of 35th IEEE Conference on Decision and Control Vol. 2; pp. 1974 - 1979 vol.2
Main Authors Bickel, R., Tomizuka, M., Wankyun Chung
Format Conference Proceeding
LanguageEnglish
Published IEEE 1996
Subjects
Deburring
Equations
Force control
Jacobian matrices
Mechanical engineering
Modeling
Robot kinematics
Singular value decomposition
Subspace constraints
Surface impedance
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Summary:Many contact tasks are more easily defined in terms of constraint equations (and therefore constraint coordinates), rather than either Cartesian or joint coordinates. Deburring and grinding are examples of two such tasks. Hybrid impedance control has been a popular force control algorithm for these tasks. This paper gives a procedure to specify orthogonal subspaces in constraint coordinates. It is then easy to design a hybrid impedance controller in those constraint coordinates. To enhance the performance of the controller under model uncertainties and/or disturbances, a disturbance observer designed in the constraint frame is incorporated in the controller design. To show the performance improvement provided by the disturbance observer, this controller is compared to a common adaptive algorithm.
ISBN:9780780335905
0780335902
ISSN:0191-2216
DOI:10.1109/CDC.1996.572869