Abstract
This paper presents some experimental results on impedance control applied to an industrial manipulator, while considering the constraints and perturbations that occur during a typical assembly task (unknown and varying environment parameters, impacts, friction, noises,...). An experimental and theorical analysis is developed first to derive a simplified scheme from the original Hogan's controller. The simplifications concern the dynamic compensation stage and the force feedback, which has been suppressed to deal with experimental conditions. To increase the performances of the resulting controller, a higher level is added to modify on-line the desired impedance and/or the reference trajectory. This supervisor has been developed using fuzzy logic. Experimental results on an industrial IBM Scara illustrate the ability of the system to absorb large external impacts and perturbations due to variations in the behavior of the manipulator and its environment.
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References
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© 1994 Springer-Verlag London Limited
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Morel, G., Bidaud, P. (1994). Experiments on impedance control to derive adaptive strategies. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027588
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DOI: https://doi.org/10.1007/BFb0027588
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