TY - GEN
T1 - Null-space impedance control with disturbance observer
AU - Sadeghian, Hamid
AU - Keshmiri, Mehdi
AU - Villani, Luigi
AU - Siciliano, Bruno
PY - 2012
Y1 - 2012
N2 - In this paper a new approach for the null-space impedance control of a kinematically redundant robot is proposed. The approach is useful for the case where the robot experience an external interaction on the body, especially in the presence of humans. The proposed algorithm guarantees safe and dependable physical interaction of the robot body with the environment, thanks to the null-space impedance control. At the same time, the correct execution of the task assigned to the end effector is ensured by a disturbance observer. The algorithm does not require joint torque measurements. The performance of the proposed controller is verified through simulations on 7R KUKA lightweight robot arm.
AB - In this paper a new approach for the null-space impedance control of a kinematically redundant robot is proposed. The approach is useful for the case where the robot experience an external interaction on the body, especially in the presence of humans. The proposed algorithm guarantees safe and dependable physical interaction of the robot body with the environment, thanks to the null-space impedance control. At the same time, the correct execution of the task assigned to the end effector is ensured by a disturbance observer. The algorithm does not require joint torque measurements. The performance of the proposed controller is verified through simulations on 7R KUKA lightweight robot arm.
UR - http://www.scopus.com/inward/record.url?scp=84872338700&partnerID=8YFLogxK
U2 - 10.1109/IROS.2012.6385690
DO - 10.1109/IROS.2012.6385690
M3 - Conference contribution
AN - SCOPUS:84872338700
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2795
EP - 2800
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -