In this work, an admittance control scheme is proposed utilizing a highly robust prescribed performance position tracking controller for flexible joint robots which is designed at the operational space. The proposed control scheme achieves the desired impedance to the external contact force as well as superior position tracking in free motion without any robot model knowledge, as opposed to the torque based impedance controllers. Comparative simulation results on a three degrees-of-freedom (3DOF) flexible joint manipulator, illustrate the efficiency of the approach.
Operational Space Prescribed Tracking Performance and Compliance in Flexible Joint Robots
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received August 14, 2014; final manuscript received December 22, 2014; published online February 9, 2015. Assoc. Editor: Jongeun Choi.
Atawnih, A., Doulgeri, Z., and Rovithakis, G. A. (July 1, 2015). "Operational Space Prescribed Tracking Performance and Compliance in Flexible Joint Robots." ASME. J. Dyn. Sys., Meas., Control. July 2015; 137(7): 074503. https://doi.org/10.1115/1.4029529
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