Impedance Shaping Controller for Robotic Applications in Interaction with Compliant Environments

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

2014

Abstract

The impedance shaping control is presented in this paper, providing an extension of standard impedance controller. The method has been conceived to avoid force overshoots in applications where there is the need to track a force reference. Force tracking performance are obtained tuning on-line both the position set-point and the stiffness and damping parameters, based on the force error and on the estimated stiffness of the interacting environment (an Extended Kalman Filter is used). The stability of the presented strategy has been studied through Lyapunov. To validate the performance of the control an assembly task is taken into account, considering the geometrical and mechanical properties of the environment (partially) unknown. Results are compared with constant stiffness and damping impedance controllers, which show force overshoots and instabilities.

Paper Citation

in Harvard Style

Roveda L., Vicentini F., Pedrocchi N., Braghin F. and Molinari Tosatti L. (2014). Impedance Shaping Controller for Robotic Applications in Interaction with Compliant Environments . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 444-450. DOI: 10.5220/0005059504440450

in Bibtex Style

@conference{icinco14,
author={Loris Roveda and Federico Vicentini and Nicola Pedrocchi and Francesco Braghin and Lorenzo Molinari Tosatti},
title={Impedance Shaping Controller for Robotic Applications in Interaction with Compliant Environments},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={444-450},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005059504440450},
isbn={978-989-758-040-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Impedance Shaping Controller for Robotic Applications in Interaction with Compliant Environments
SN - 978-989-758-040-6
AU - Roveda L.
AU - Vicentini F.
AU - Pedrocchi N.
AU - Braghin F.
AU - Molinari Tosatti L.
PY - 2014
SP - 444
EP - 450
DO - 10.5220/0005059504440450