TY - GEN
T1 - FDOB-Based Robust Impedance Control of Force Sensor Implemented Force Servo System
AU - Samuel, Kangwagye
AU - Oh, Sehoon
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/10/13
Y1 - 2021/10/13
N2 - Instability which occurs when the robot's end effector contacts a very stiff environment is a challenge in designing control systems for safe physical interaction and cooperation of robots with environment. One of the reasons for the instability is force disturbances caused by the mechanical factors of the robot system. To this effect, this paper presents the design, analysis, and implementation of a robust impedance controller for a force servo system. To suppress the force disturbances, a force disturbance observer (FDOB) is implemented in the impedance-controlled system. For comparison purposes, impedance control system when the FDOB is not implemented is also designed and analyzed. Further, using the passivity approach, coupled stability conditions of the designed impedance control systems are derived and analyzed to assess the effect of FDOB on passivity and overall control performance. Simulations and experiments are conducted to evaluate performance of the designed impedance control systems and it is found that the FDOB-based control system shows superior performance by improving contact stability compared to direct force sensor feedback control system.
AB - Instability which occurs when the robot's end effector contacts a very stiff environment is a challenge in designing control systems for safe physical interaction and cooperation of robots with environment. One of the reasons for the instability is force disturbances caused by the mechanical factors of the robot system. To this effect, this paper presents the design, analysis, and implementation of a robust impedance controller for a force servo system. To suppress the force disturbances, a force disturbance observer (FDOB) is implemented in the impedance-controlled system. For comparison purposes, impedance control system when the FDOB is not implemented is also designed and analyzed. Further, using the passivity approach, coupled stability conditions of the designed impedance control systems are derived and analyzed to assess the effect of FDOB on passivity and overall control performance. Simulations and experiments are conducted to evaluate performance of the designed impedance control systems and it is found that the FDOB-based control system shows superior performance by improving contact stability compared to direct force sensor feedback control system.
KW - Coupled stability
KW - impedance control
KW - passivity
UR - http://www.scopus.com/inward/record.url?scp=85119507293&partnerID=8YFLogxK
U2 - 10.1109/IECON48115.2021.9589162
DO - 10.1109/IECON48115.2021.9589162
M3 - Conference contribution
AN - SCOPUS:85119507293
T3 - IECON Proceedings (Industrial Electronics Conference)
BT - IECON 2021 - 47th Annual Conference of the IEEE Industrial Electronics Society
PB - IEEE Computer Society
T2 - 47th Annual Conference of the IEEE Industrial Electronics Society, IECON 2021
Y2 - 13 October 2021 through 16 October 2021
ER -