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Light-weight manipulators are used in industrial tasks mounted on mobile platforms to improveflexibility. However, such mountings introduce compliance affecting the tasks. This work dealswith 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. Theclosed-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.

Industrial Compliant Robot Bases in Interaction Tasks: a Force Tracking Algorithm with Coupled Dynamics Compensation

Loris Roveda
Co-primo
Membro del Collaboration Group
;Nicola Pedrocchi
Co-primo
Membro del Collaboration Group
;Federico Vicentini
Secondo
Membro del Collaboration Group
;Lorenzo Molinari Tosatti
Ultimo
Funding Acquisition
2016

Abstract

Light-weight manipulators are used in industrial tasks mounted on mobile platforms to improveflexibility. However, such mountings introduce compliance affecting the tasks. This work dealswith 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. Theclosed-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.
2016
Istituto di Sistemi e Tecnologie Industriali Intelligenti per il Manifatturiero Avanzato - STIIMA (ex ITIA)
Inglese
WOS:000405569600005
35
8
1732
1746
15
2-s2.0-84978127957
https://www.cambridge.org/core/journals/robotica/article/industrial-compliant-robot-bases-in-interaction-tasks-a-force-tracking-algorithm-with-coupled-dynamics-compensation/7AF46174CA6C8A5CE1217D1F56BF0EE3
Esperti anonimi
Sì
robot base compensation; interaction control; interaction dynamics
Internazionale
Elettronico
4
info:eu-repo/semantics/article
262
Roveda, Loris; Pedrocchi, Nicola; Vicentini, Federico; Molinari Tosatti, Lorenzo
01 Contributo su Rivista::01.01 Articolo in rivista
partially_open
   European Robotics Challenges
   EUROC
   FP7
   608849

   Highly customizable robotic solutions for effective and safe human robot collaboration in manufacturing applications
   FourByThree
   H2020
   637095
01.01 Articolo in rivista
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/20.500.14243/324798
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