Impedance Control based Force-tracking Algorithm for Interaction Robotics Tasks: An Analytically Force Overshoots-free Approach

Loris Roveda, Federico Vicentini, Nicola Pedrocchi, Lorenzo Molinari Tosatti

2015

Abstract

In the presented paper an analytically force overshoots-free approach is described for the execution of robotics interaction tasks involving a compliant (of unknown geometrical and mechanical properties) environment. Based on the impedance control, the aim of the work is to perform force-tracking applications avoiding force overshoots that may result in task failures. The developed algorithm shapes the equivalent stiffness and damping of the closed-loop manipulator to regulate the interaction dynamics deforming the impedance control set-point. The force-tracking performance are obtained defining the control gains analytically based on the estimation of the interacting environment stiffness (performed using an Extended Kalman Filter). The method has been validated in a probing task, showing the avoidance of force overshoots and the achieved target dynamic performance.

Paper Citation

in Harvard Style

Roveda L., Vicentini F., Pedrocchi N. and Molinari Tosatti L. (2015). Impedance Control based Force-tracking Algorithm for Interaction Robotics Tasks: An Analytically Force Overshoots-free Approach . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-123-6, pages 386-391. DOI: 10.5220/0005565403860391

in Bibtex Style

@conference{icinco15,
author={Loris Roveda and Federico Vicentini and Nicola Pedrocchi and Lorenzo Molinari Tosatti},
title={Impedance Control based Force-tracking Algorithm for Interaction Robotics Tasks: An Analytically Force Overshoots-free Approach},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2015},
pages={386-391},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005565403860391},
isbn={978-989-758-123-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Impedance Control based Force-tracking Algorithm for Interaction Robotics Tasks: An Analytically Force Overshoots-free Approach
SN - 978-989-758-123-6
AU - Roveda L.
AU - Vicentini F.
AU - Pedrocchi N.
AU - Molinari Tosatti L.
PY - 2015
SP - 386
EP - 391
DO - 10.5220/0005565403860391