Nonlinear Target Impedance Design and Its Use in Robot Compliant Motion Control with Time Delay Estimation

Author

Chang, Pyung Hun ; Jin, Maolin

Author_Institution

Mech. Eng., Korea Adv. Inst. of Sci. & Technol., Daejeon

fYear

2006

fDate

6-10 Nov. 2006

Firstpage

161

Lastpage

166

Abstract

Nonlinear target impedance is proposed for robot compliant motion control. The target impedance is designed by adding a nonlinear damping term to conventional linear target impedance to suppress undesired energy. A robust control method, time delay control, is used to achieve proposed target impedance, and the stability of closed loop dynamics is proved by using Popov´s hyper-stability theory. Through experiments on 1-DOF arm with friction, the proposed target impedance has been compared to linear impedance to confirm its effectiveness. Compared to linear target impedance, nonlinear target impedance is better for tracking discontinuous trajectory, and more robust against Coulomb friction in free space motion control. The nonlinear target impedance intelligently absorbs impact energy when the robot collides with the environment

Keywords

closed loop systems; delays; manipulator dynamics; motion control; nonlinear control systems; robust control; closed loop dynamics stability; hyper-stability theory; nonlinear damping; nonlinear target impedance design; robot compliant motion control; time delay control; time delay estimation; tracking discontinuous trajectory; Damping; Delay effects; Delay estimation; Friction; Impedance; Intelligent robots; Motion control; Motion estimation; Robust control; Robust stability;

fLanguage

English

Publisher

ieee

Conference_Titel

IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on

Conference_Location

Paris

ISSN

1553-572X

Print_ISBN

1-4244-0390-1

Type

conf

DOI

10.1109/IECON.2006.347763

Filename

4153492