In the framework of interaction control of robotic systems, impedance control represents one of the most eective strategies when the model of the environment is not available. In this chapter, a new impedance control strategy is presented for six-degree-of freedom (six-DOF) tasks. The main features are geometric consistency and absence of singularities. The case of a single manipulator interacting with the environment is considered rst. Then, the case of redundant manipulators is analysed, and an algorithm ensuring stabilisation of null-space velocities is presented. The redundant degrees of mobility are exploited to optimise an additional task function. Finally, the case of cooperative robots manipulating a common object is addressed: both the problems of loose and tight cooperation are considered. The theoretical ndings are validated in experiments on a dual-robot industrial setup.
Interaction control
CACCAVALE, Fabrizio;
2001-01-01
Abstract
In the framework of interaction control of robotic systems, impedance control represents one of the most eective strategies when the model of the environment is not available. In this chapter, a new impedance control strategy is presented for six-degree-of freedom (six-DOF) tasks. The main features are geometric consistency and absence of singularities. The case of a single manipulator interacting with the environment is considered rst. Then, the case of redundant manipulators is analysed, and an algorithm ensuring stabilisation of null-space velocities is presented. The redundant degrees of mobility are exploited to optimise an additional task function. Finally, the case of cooperative robots manipulating a common object is addressed: both the problems of loose and tight cooperation are considered. The theoretical ndings are validated in experiments on a dual-robot industrial setup.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
