On the Stability of Maxwell Model based Impedance Control and Cartesian Admittance Control Implementation

Fu, Le; Wu, Rui; Zhao, Jie

doi:10.1109/icarm.2019.8834286

Cited by 5 publications

(6 citation statements)

References 17 publications

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“…2, an equivalent expression exists on the condition that these coefficients of both two viscoelastic models are the same. The detailed mathematical formulations and dynamics property comparisons are presented in our former work [30].…”

Section: Preliminaries a Comparison Of Two Viscoelastic Modelsmentioning

confidence: 99%

“…From (28), we can infer that the repelling torque generated by virtual spring τ s,i are zero when the joint configuration q i are in the interval of (q i,min + σ ≤ q i ≤ q i,max − σ ) and become larger and larger when approximating the joint torque limits τ max,i . Add the repelling torque of virtual spring to the proposed null space control law (19) and (30), the final expressions for two levels tasks are obtained as follows,…”

Section: Singularity and Joint Limits Avoidancementioning

confidence: 99%

“…In Case II 1), the joint 1 (q 1 ) wagging task is chosen for better comparisons with following cases. Voigt and Maxwell model based null space compliance control methods (19) and (30) are assigned as 2nd prioritized task in Case II 2) and 3), respectively. Then, we increase the prioritized levels to three in case III.…”

Section: A Experiments Setup and Proceduresmentioning

confidence: 99%

“…In their work, experiment results show that effectiveness of impact absorption of a fast rolling object without repelling it back. A Maxwell model based Cartesian space admittance control approach has been proposed and reported in our former work [30]. The experiment results show that a novel plastic deformation behavior of robot end-effector can be realized in Cartesian space and human comfortableness is improved during human robot interaction, due to the drawbacks of annoying even unsafe elastic return forces are overcame by the employment of Maxwell model.…”

Section: Introductionmentioning

confidence: 97%

“…Actually, one of our recent works has been presented and published in the proceedings of 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM, Osaka, Japan) [30]. Motivated by the discussions with many interested robotic specialists from different countries, the authors are encouraged to conduct further and deeper research.…”

Section: Introductionmentioning

confidence: 99%

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Maxwell Model-Based Null Space Compliance Control in the Task-Priority Framework for Redundant Manipulators

Zhao

2020

IEEE Access

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Improving robot performance while simultaneously ensuring compliance and human safety has been appealing for a long time and remains a challenge. To this end, we propose a new approach for kinematic control of redundant manipulators to deal with multiple prioritized tasks and at the same time produce a novel compliance behavior in the null space of main task. Different from typical Voigt model based compliance control methods, the compliance control approach proposed in this paper is based on Maxwell model, which shows superior performance on impact absorption and contact reducing than its counterparts. In comparison with typical compliance control, the annoying and even harmful return force is removed and human comfortableness can be improved consequently. Besides, this novel compliance control method is implemented in the null space of higher priority task without disturbing the main end-effector task. The effectiveness of our approach has been practically evaluated and verified in experiments on a 7 DOF redundant collaborative robot manipulator. A novel cushion-like and plastic deformed whole body compliance has been realized while the continuity and quality of robot main task have been maintained. Promisingly, the approaches proposed in this paper are general and manipulator independent, which can also be applied to other emerging collaborative and even hyper redundant manipulators. Besides, research results of this work can also potentially inspire other robotic research related with human robot friendly interaction and collaboration. INDEX TERMS Multi-prioritized framework, null space compliance control, Maxwell model, plastic deformation.

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Section: Preliminaries a Comparison Of Two Viscoelastic Modelsmentioning

confidence: 99%

Section: Singularity and Joint Limits Avoidancementioning

confidence: 99%