Resumé

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
Antal sider18
Vol/bind495
ForlagSpringer
Publikationsdato18 apr. 2019
Sider174-191
ISBN (Trykt)978-3-030-11291-2
ISBN (Elektronisk)978-3-030-11292-9
DOI
StatusUdgivet - 18 apr. 2019
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
ISSN1876-1100

Fingerprint

Manipulators
Kinematics
Robots
Feedback linearization
Actuators
Torque
Damping
Stiffness
Controllers

Emneord

    Citer dette

    Mendez, J. D. D. F., Schiøler, H., Madsen, O., & Bai, S. (2019). Impedance Control and Force Estimation of a Redundant Parallel Kinematic Manipulator. I Informatics in Control, Automation and Robotics (Bind 495, s. 174-191). Springer. Lecture Notes in Electrical Engineering https://doi.org/10.1007/978-3-030-11292-9_9
    Mendez, Juan de Dios Flores ; Schiøler, Henrik ; Madsen, Ole ; Bai, Shaoping. / Impedance Control and Force Estimation of a Redundant Parallel Kinematic Manipulator. Informatics in Control, Automation and Robotics . Bind 495 Springer, 2019. s. 174-191 (Lecture Notes in Electrical Engineering).
    @inbook{d80e8ceba6f847409c911c8551a42860,
    title = "Impedance Control and Force Estimation of a Redundant Parallel Kinematic Manipulator",
    abstract = "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.",
    keywords = "Redundantly actuated, Impedance control, Parallel kinematic manipulator, Nonlinear disturbance observer, Indirect force control",
    author = "Mendez, {Juan de Dios Flores} and Henrik Schi{\o}ler and Ole Madsen and Shaoping Bai",
    year = "2019",
    month = "4",
    day = "18",
    doi = "10.1007/978-3-030-11292-9_9",
    language = "English",
    isbn = "978-3-030-11291-2",
    volume = "495",
    pages = "174--191",
    booktitle = "Informatics in Control, Automation and Robotics",
    publisher = "Springer",
    address = "Germany",

    }

    Mendez, JDDF, Schiøler, H, Madsen, O & Bai, S 2019, Impedance Control and Force Estimation of a Redundant Parallel Kinematic Manipulator. i Informatics in Control, Automation and Robotics . bind 495, Springer, Lecture Notes in Electrical Engineering, s. 174-191, Madrid, Spanien, 26/07/2017. https://doi.org/10.1007/978-3-030-11292-9_9

    Impedance Control and Force Estimation of a Redundant Parallel Kinematic Manipulator. / Mendez, Juan de Dios Flores; Schiøler, Henrik; Madsen, Ole; Bai, Shaoping.

    Informatics in Control, Automation and Robotics . Bind 495 Springer, 2019. s. 174-191.

    Publikation: Bidrag til bog/antologi/rapport/konference proceedingBidrag til bog/antologiForskningpeer review

    TY - CHAP

    T1 - Impedance Control and Force Estimation of a Redundant Parallel Kinematic Manipulator

    AU - Mendez, Juan de Dios Flores

    AU - Schiøler, Henrik

    AU - Madsen, Ole

    AU - Bai, Shaoping

    PY - 2019/4/18

    Y1 - 2019/4/18

    N2 - 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.

    AB - 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.

    KW - Redundantly actuated

    KW - Impedance control

    KW - Parallel kinematic manipulator

    KW - Nonlinear disturbance observer

    KW - Indirect force control

    U2 - 10.1007/978-3-030-11292-9_9

    DO - 10.1007/978-3-030-11292-9_9

    M3 - Book chapter

    SN - 978-3-030-11291-2

    VL - 495

    SP - 174

    EP - 191

    BT - Informatics in Control, Automation and Robotics

    PB - Springer

    ER -

    Mendez JDDF, Schiøler H, Madsen O, Bai S. Impedance Control and Force Estimation of a Redundant Parallel Kinematic Manipulator. I Informatics in Control, Automation and Robotics . Bind 495. Springer. 2019. s. 174-191. (Lecture Notes in Electrical Engineering). https://doi.org/10.1007/978-3-030-11292-9_9