Abstrakt

This paper presents impedance control through force estimation of a redundantly actuated Parallel Kinematic Manipulator. The impedance control is a model based control that sets a stiffness, damping and apparent inertia in the task space of the robot. The control is based on the feedback linearisation of the dynamics. The impedance control is achieved through an optimization promoting the even distribution of torques over actuators. Next, a force estimator is applied through an nonlinear disturbance observer. Finally, the estimated force is used in the impedance controller to set an apparent inertia of the moving platform of the robot. The approach shows a good response in low frequencies and good external force estimation required for impedance controlled tasks.
OriginalsprogEngelsk
TitelInformatics in Control, Automation and Robotics : 14th International Conference, ICINCO 2017 Madrid, Spain, July 26-28, 2017 Revised Selected Papers
RedaktørerKurosh Madani, Oleg Gusikhin
Antal sider18
ForlagSpringer
Publikationsdato1 jan. 2020
Sider174-191
ISBN (Trykt)978-3-030-11291-2
ISBN (Elektronisk)978-3-030-11292-9
DOI
StatusUdgivet - 1 jan. 2020
BegivenhedInternational Conference on Informatics in Control, Automation and Robotics - Madrid, Spanien
Varighed: 26 jul. 201728 jul. 2017

Konference

KonferenceInternational Conference on Informatics in Control, Automation and Robotics
LandSpanien
ByMadrid
Periode26/07/201728/07/2017
NavnLecture Notes in Electrical Engineering
Vol/bind495
ISSN1876-1100

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  • Citationsformater

    Mendez, J. D. D. F., Schiøler, H., Madsen, O., & Bai, S. (2020). Impedance Control and Force Estimation of a Redundant Parallel Kinematic Manipulator. I K. Madani, & O. Gusikhin (red.), Informatics in Control, Automation and Robotics : 14th International Conference, ICINCO 2017 Madrid, Spain, July 26-28, 2017 Revised Selected Papers (s. 174-191). Springer. Lecture Notes in Electrical Engineering, Bind. 495 https://doi.org/10.1007/978-3-030-11292-9_9