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.
Original languageEnglish
Title of host publicationInformatics in Control, Automation and Robotics : 14th International Conference, ICINCO 2017 Madrid, Spain, July 26-28, 2017 Revised Selected Papers
EditorsKurosh Madani, Oleg Gusikhin
Number of pages18
PublisherSpringer
Publication date1 Jan 2020
Pages174-191
ISBN (Print)978-3-030-11291-2
ISBN (Electronic)978-3-030-11292-9
DOIs
Publication statusPublished - 1 Jan 2020
EventInternational Conference on Informatics in Control, Automation and Robotics - Madrid, Spain
Duration: 26 Jul 201728 Jul 2017

Conference

ConferenceInternational Conference on Informatics in Control, Automation and Robotics
CountrySpain
CityMadrid
Period26/07/201728/07/2017
SeriesLecture Notes in Electrical Engineering
Volume495
ISSN1876-1100

Fingerprint

Manipulators
Kinematics
Robots
Feedback linearization
Actuators
Torque
Damping
Stiffness
Controllers

Keywords

  • Redundantly actuated
  • Impedance control
  • Parallel kinematic manipulator
  • Nonlinear disturbance observer
  • Indirect force control

Cite this

Mendez, J. D. D. F., Schiøler, H., Madsen, O., & Bai, S. (2020). Impedance Control and Force Estimation of a Redundant Parallel Kinematic Manipulator. In K. Madani, & O. Gusikhin (Eds.), Informatics in Control, Automation and Robotics : 14th International Conference, ICINCO 2017 Madrid, Spain, July 26-28, 2017 Revised Selected Papers (pp. 174-191). Springer. Lecture Notes in Electrical Engineering, Vol.. 495 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 : 14th International Conference, ICINCO 2017 Madrid, Spain, July 26-28, 2017 Revised Selected Papers. editor / Kurosh Madani ; Oleg Gusikhin. Springer, 2020. pp. 174-191 (Lecture Notes in Electrical Engineering, Vol. 495).
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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",
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Mendez, JDDF, Schiøler, H, Madsen, O & Bai, S 2020, Impedance Control and Force Estimation of a Redundant Parallel Kinematic Manipulator. in K Madani & O Gusikhin (eds), Informatics in Control, Automation and Robotics : 14th International Conference, ICINCO 2017 Madrid, Spain, July 26-28, 2017 Revised Selected Papers. Springer, Lecture Notes in Electrical Engineering, vol. 495, pp. 174-191, International Conference on Informatics in Control, Automation and Robotics, Madrid, Spain, 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 : 14th International Conference, ICINCO 2017 Madrid, Spain, July 26-28, 2017 Revised Selected Papers. ed. / Kurosh Madani; Oleg Gusikhin. Springer, 2020. p. 174-191 (Lecture Notes in Electrical Engineering, Vol. 495).

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

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

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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.

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