TY - GEN
T1 - Unified passivity-based Cartesian force/impedance control for rigid and flexible joint robots via task-energy tanks
AU - Schindlbeck, Christopher
AU - Haddadin, Sami
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/6/29
Y1 - 2015/6/29
N2 - In this paper we propose a novel hybrid Cartesian force/impedance controller that is equipped with energy tanks to preserve passivity. Our approach overcomes the problems of (hybrid) force control, impedance control, and set-point based indirect force control. It allows accurate force tracking, full compliant impedance behavior, and safe contact resemblance simultaneously by introducing a controller shaping function that robustly handles unexpected contact loss and avoids chattering behavior that switching based approaches suffer from. Furthermore, we propose a constructive way of initiating the energy tanks via the concept of task energy. This represents an estimate of the energy consumption of a given force control task prior to execution. The controller can be applied to both rigid body and flexible joint dynamics. To show the validity of our approach, several simulations and experiments with the KUKA/DLR LWR-III are carried out.
AB - In this paper we propose a novel hybrid Cartesian force/impedance controller that is equipped with energy tanks to preserve passivity. Our approach overcomes the problems of (hybrid) force control, impedance control, and set-point based indirect force control. It allows accurate force tracking, full compliant impedance behavior, and safe contact resemblance simultaneously by introducing a controller shaping function that robustly handles unexpected contact loss and avoids chattering behavior that switching based approaches suffer from. Furthermore, we propose a constructive way of initiating the energy tanks via the concept of task energy. This represents an estimate of the energy consumption of a given force control task prior to execution. The controller can be applied to both rigid body and flexible joint dynamics. To show the validity of our approach, several simulations and experiments with the KUKA/DLR LWR-III are carried out.
UR - http://www.scopus.com/inward/record.url?scp=84938280313&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2015.7139036
DO - 10.1109/ICRA.2015.7139036
M3 - Conference contribution
AN - SCOPUS:84938280313
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 440
EP - 447
BT - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Y2 - 26 May 2015 through 30 May 2015
ER -
