Abstract
Constant force tracking control strategies are becoming increasingly popular due to their wide range of applications in interactive tasks. These tasks require robots to be able to respond effectively to environmental disturbances. Disturbances in contact tasks are typically divided into two types: large disturbances caused by human-robot interaction, and small disturbances caused by deviations in contact surface position or environmental stiffness. This article proposes an impedance control method using the dynamical system for constant force tracking. Unlike existing solutions, the contact force is estimated through a generalized momentum observer. Therefore, the proposed method can effectively deal with large and small disturbances without requiring additional force/torque sensors on the end-effector. This method enhances the accuracy of constant force tracking under small disturbances and demonstrates excellent robustness and replanning capabilities for trajectories when facing large disturbances. The proposed method's advantages are demonstrated through constant force tracking verification experiments conducted on a six-degree-of-freedom collaborative robot.
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Lai, J., Chen, Y., Zhang, J., Nie, P., Zhang, B. (2023). Constant Force Tracking Using Dynamical System with External Force Estimation. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14271. Springer, Singapore. https://doi.org/10.1007/978-981-99-6495-6_19
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DOI: https://doi.org/10.1007/978-981-99-6495-6_19
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