Proceedings ArticleDOI
Nested compliant admittance control for robotic mechanical assembly of misaligned and tightly toleranced parts
Nicky Mol,Jan Smisek,Robert Babuska,Andre Schiele +3 more
- pp 002717-002722
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TLDR
A closed-loop force sensor based nested admittance/impedance control strategy to actively estimate and minimize the effects of geometric misalignment that naturally occur during assembly tasks with compliant robots is proposed.Abstract:
In this paper, we propose a closed-loop force sensor based nested admittance/impedance control strategy to actively estimate and minimize the effects of geometric misalignment that naturally occur during assembly tasks with compliant robots. The method allows the robot to be used with a stiff impedance control setting, which is beneficial for free air motion performance, yet allows to adjust for large misalignment errors between parts that need be assembled.read more
Citations
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References
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Journal ArticleDOI
Impedance Control: An Approach to Manipulation: Part I—Theory
TL;DR: It is shown that components of the manipulator impedance may be combined by superposition even when they are nonlinear, and a generalization of a Norton equivalent network is defined for a broad class of nonlinear manipulators which separates the control of motion from theControl of impedance while preserving the superposition properties of the Norton network.
Journal ArticleDOI
Hybrid position/force control of manipulators
M. H. Raibert,J. J. Craig +1 more
TL;DR: A new conceptually simple approach to controlling compliant motions of a robot manipulator that combines force and torque information with positional data to satisfy simultaneous position and force trajectory constraints specified in a convenient task related coordinate system is presented.
Journal ArticleDOI
The DLR lightweight robot : design and control concepts for robots in human environments
Alin Albu-Schaffer,Sami Haddadin,Christian Ott,Andreas Stemmer,Thomas Wimbock,Gerhard Hirzinger +5 more
TL;DR: The first systematic experimental evaluation of possible injuries during robot‐human crashes using standardized testing facilities is presented, and a consistent approach for using these sensors for manipulation in human environments is described.
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