Sensorless Impedance Control for the UR5 Robot

Joao Fabian, Facundo Garcia-Cardenas, Ruth Canahuire, Oscar E. Ramos

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

3 Citas (Scopus)

Resumen

Robot manipulators are designed to interact with their surroundings. Even if a task does not specifically involve interaction, the robot may collide with unknown obstacles during its motion. To overcome these problems, it is necessary to consider possible interactions inside the control system. This paper aims to design a controller that allows the manipulator to reach a final pose, even if it interacts with an unforeseen object during its trajectory. This design is composed of two stages: A feedback linearization system that allows to eliminate intrinsic nonlinearities of the robot, and the imposition of a dynamic behavior to keep delicate interactions without using external 6D force/torque sensors. The proposed controller was tested on an UR5 robot, but can be extended to any robotic manipulator. The results show the comparison between the behavior achieved by a standard feedback-linearized position controller, and a sensor-free impedance controller, both for environments with and without unknown obstacles, in which the proposed controller generated smoother and more precise trajectories.

Idioma originalInglés
Título de la publicación alojada2020 International Conference on Control, Automation and Diagnosis, ICCAD 2020 - Proceedings
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781728169996
DOI
EstadoPublicada - oct. 2020
Evento4th International Conference on Control, Automation and Diagnosis, ICCAD 2020 - Paris, Francia
Duración: 7 oct. 20209 oct. 2020

Serie de la publicación

Nombre2020 International Conference on Control, Automation and Diagnosis, ICCAD 2020 - Proceedings

Conferencia

Conferencia4th International Conference on Control, Automation and Diagnosis, ICCAD 2020
País/TerritorioFrancia
CiudadParis
Período7/10/209/10/20

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