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Contact force cancelation in robot impedance control by target impedance modification

Published online by Cambridge University Press:  06 February 2023

An-Chyau Huang Open the ORCID record for An-Chyau Huang [Opens in a new window] ,
Kun-Ju Lee  and
Wei-Lin Du
An-Chyau Huang*
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan, ROC
Kun-Ju Lee
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan, ROC
Wei-Lin Du
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan, ROC
*
*Corresponding author. E-mail: achuang@mail.ntust.edu.tw
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Abstract

A force sensorless impedance controller is proposed in this paper for robot manipulators without using force estimators. From the observation of the impedance control law, the force feedback term can be canceled if the inertia matrix in the target impedance is the same as the robot inertia matrix. However, the inertia matrix in the target impedance is almost always a constant matrix, while the robot inertia matrix is a function of the robot configuration, and hence, they may not be identical in general. A modification of the coefficient matrix for the contact force term in the target impedance is suggested in this paper to enable cancelation of the force feedback term in the impedance control law so that a force sensorless impedance controller without using force estimators can be obtained. The tracking performance in the free space phase and the motion trajectory in the compliant motion phase of the new design are almost the same as those in the traditional impedance control. Modification of the inertia matrix in the target impedance will result in small variations of the contact force which is acceptable in practical applications. For robot manipulators containing uncertainties, an adaptive version of the new controller is also developed in this paper to give satisfactory performance without the need for force sensors. Rigorous mathematical justification in closed-loop stability is given in detail, and computer simulations are performed to verify the efficacy of the proposed design.

Keywords

force controlcontrol of robotic systemsimpedance controlforce sensorlessadaptive control
Type
Research Article
Information
Robotica , Volume 41 , Issue 6 , June 2023 , pp. 1733 - 1748
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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