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Industrial compliant robot bases in interaction tasks: a force tracking algorithm with coupled dynamics compensation

Published online by Cambridge University Press:  07 July 2016

Loris Roveda ,
Nicola Pedrocchi ,
Federico Vicentini  and
Lorenzo Molinari Tosatti
Loris Roveda*
Affiliation:
Institute of Industrial Technologies and Automation (ITIA) of Italian National Research Council (CNR), via Bassini, 15 - 20133 Milan, Italy. E-mails: nicola.pedrocchi@itia.cnr.it, federico.vicentini@itia.cnr.it, lorenzo.molinari@itia.cnr.it
Nicola Pedrocchi
Affiliation:
Institute of Industrial Technologies and Automation (ITIA) of Italian National Research Council (CNR), via Bassini, 15 - 20133 Milan, Italy. E-mails: nicola.pedrocchi@itia.cnr.it, federico.vicentini@itia.cnr.it, lorenzo.molinari@itia.cnr.it
Federico Vicentini
Affiliation:
Institute of Industrial Technologies and Automation (ITIA) of Italian National Research Council (CNR), via Bassini, 15 - 20133 Milan, Italy. E-mails: nicola.pedrocchi@itia.cnr.it, federico.vicentini@itia.cnr.it, lorenzo.molinari@itia.cnr.it
Lorenzo Molinari Tosatti
Affiliation:
Institute of Industrial Technologies and Automation (ITIA) of Italian National Research Council (CNR), via Bassini, 15 - 20133 Milan, Italy. E-mails: nicola.pedrocchi@itia.cnr.it, federico.vicentini@itia.cnr.it, lorenzo.molinari@itia.cnr.it
*
*Corresponding author. E-mail: loris.roveda@itia.cnr.it
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Summary

Light-weight manipulators are used in industrial tasks mounted on mobile platforms to improve flexibility. However, such mountings introduce compliance affecting the tasks. This work deals with such scenarios by designing a controller that also takes into account compliant environments. The controller allows the tracking of a target force using the estimation of the environment stiffness (EKF) and the estimation of the base position (KF), compensating the robot base deformation. The closed-loop stability has been analyzed. Observers and the control law have been validated in experiments. An assembly task is considered with a standard industrial non-actuated mobile platform. Control laws with and without base compensation are compared.

Keywords

Interaction controlModel based controlCompliant robot base compensationImpedance controlIndustrial robotics

Information

Type
Articles
Information
Robotica , Volume 35 , Issue 8 , August 2017 , pp. 1732 - 1746
Copyright
Copyright © Cambridge University Press 2016 

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