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Robust Adaptive Force Tracking Impedance Control for Robotic Capturing of Unknown Objects

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Intelligent Robotics and Applications (ICIRA 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11742))

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Abstract

The manipulation for space known objects has been studied extensively, however, the case for unknown objects still needs further investigation because there is little information to assist measurement and manipulation. This paper proposes a robust adaptive force tracking impedance controller for robotic capturing of space unknown objects, which has a great adaptability to the environmental parameters of the objects, a force tracking capability of capturing different types of space objects, and robustness to uncertainties. First, the position control based impedance control scheme is given. Second, an environmental parameters adaptive law is designed to estimate the environmental location and the stiffness of the grasped object. Third, by using the nonlinear high-gain tracking differentiator (HGTD) and linear extended state observer (LESO), a robust adaptive dynamic surface position controller for a space robot is proposed to guarantee a good position tracking performance of the controller and the robustness to system’s parametric uncertainties. At last, numerical simulations are conducted to demonstrate the position/force tracking control performance of the proposed impedance control scheme.

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Acknowledgement

This work was supported by the National Key Research and Development Program of China [Grant no. 2017YFB1302200], the Joint Funds of the National Natural Science Foundation of China [Grant no. U1613201], and the Key Research and Development Program of Guangdong Province [Grant no. 2019B090915001].

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Authors and Affiliations

  1. Department of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, 518055, China

    Guotao Li, Hailin Huang & Bing Li

Authors
  1. Guotao Li
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  2. Hailin Huang
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  3. Bing Li
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Corresponding author

Correspondence to Bing Li .

Editor information

Editors and Affiliations

  1. Shenyang Institute of Automation, Shenyang, China

    Haibin Yu

  2. Shenyang Institute of Automation, Shenyang, China

    Jinguo Liu

  3. Shenyang Institute of Automation, Shenyang, China

    Lianqing Liu

  4. University of Portsmouth, Portsmouth, UK

    Zhaojie Ju

  5. Shenyang Institute of Automation, Shenyang, China

    Yuwang Liu

  6. University of Portsmouth, Portsmouth, UK

    Dalin Zhou

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Li, G., Huang, H., Li, B. (2019). Robust Adaptive Force Tracking Impedance Control for Robotic Capturing of Unknown Objects. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11742. Springer, Cham. https://doi.org/10.1007/978-3-030-27535-8_60

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  • DOI: https://doi.org/10.1007/978-3-030-27535-8_60

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-27534-1

  • Online ISBN: 978-3-030-27535-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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