Robot force control

Introduction Lorenzo Sciavicco Motion control Bruno Siciliano Indirect force control Luigi Villani Direct force control Stefano Chiaverini Experiments Bruno Siciliano Hybrid force control and contact estimation in the task frame formalism Herman Bruyninckx

Research @ PRISMA Lab ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Robot Force Control Introduction Lorenzo SCIAVICCO Dipartimento di Informatica e Automazione Università degli Studi di Roma Tre [email_address]

Outline ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Force control ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Modelling ,[object Object],[object Object]

Modelling (cont’d) ,[object Object],[object Object],[object Object],: matrix geometric Jacobian kinematic singularities (!)

Modelling (cont’d) ,[object Object],[object Object],[object Object]

Control strategy ,[object Object],[object Object],[object Object]

Control strategy (cont’d) ,[object Object],[object Object],[object Object]

Robot Force Control Motion control Bruno SICILIANO Dipartimento di Ingegneria dell’Informazione e Ingegneria Elettrica Università degli Studi di Salerno [email_address]

Outline ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Tracking Control ,[object Object],[object Object],[object Object],Euler angles Angle/axis Quaternion

Tracking Control (cont’d) ,[object Object],[object Object],[object Object],representation singularities (!)

Tracking Control (cont’d) ,[object Object],[object Object],[object Object],choose so that is nonsingular (!)

Tracking Control (cont’d) ,[object Object],Simple rotation Rodrigues parameters Quaternion Classical angle/axis Representation

Tracking Control (cont’d) ,[object Object],[object Object],[object Object]

Tracking Control (cont’d) ,[object Object],[object Object],… stability via Lyapunov argument ( )

Tracking Control (cont’d) ,[object Object],[object Object],[object Object],… stability via Lyapunov argument

Tracking Control (cont’d) ,[object Object],1 0 8 8 Funcs 60 55 136 68 Flops Resolved acceleration 1 0 0 8 Funcs 21 0 0 52 Flops Trajectory generation Quaternion Angle/axis Alternative Euler angles Classical Euler angles Orientation error

Tracking Control (cont’d) ,[object Object],Large errors Computational load Repres. singularities Similar to position Pros Nonlinear error dyn. Sing.-free trajectory Computational load Large errors Computational load Repres. singularities Cons Quaternion Angle/axis Alternative Euler angles Classical Euler angles Orientation error

Tracking Control (cont’d) ,[object Object],dynamically consistent pseudo-inverse … stability via Lyapunov argument

Tracking Control (cont’d) ,[object Object]

Regulation ,[object Object],[object Object],[object Object],[object Object],Euler angles Angle/axis Quaternion

Regulation (cont’d) ,[object Object],[object Object],[object Object],[object Object],[object Object],for all … stability via Lyapunov argument

Robot Force Control A.D. MCCXXIV Indirect force control Luigi VILLANI Dipartimento di Informatica e Sistemistica Università degli Studi di Napoli Federico II [email_address]

Outline ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],A.D. MCCXXIV

Compliance control ,[object Object],[object Object],A.D. MCCXXIV

Impedance control ,[object Object],force/torque sensor A.D. MCCXXIV

Impedance control (cont’d) ,[object Object],A.D. MCCXXIV

Impedance control (cont’d) ,[object Object],[object Object],compliant frame A.D. MCCXXIV

Impedance control (cont’d) ,[object Object],[object Object],[object Object],A.D. MCCXXIV

Impedance control (cont’d) ,[object Object],[object Object],[object Object],[object Object],task geometric inconsistency A.D. MCCXXIV

Impedance control (cont’d) ,[object Object],[object Object],[object Object],task geometric consistency (XYZ Euler angles + diagonal stiffness) A.D. MCCXXIV

Impedance control (cont’d) ,[object Object],[object Object],[object Object],task geometric consistency A.D. MCCXXIV

Robot Force Control Direct force control Stefano CHIAVERINI Dipartimento di Automazione, Elettromagnetismo, Ingegneria dell’Informazione e Matematica Industriale Università degli Studi di Cassino [email_address]

Force regulation ,[object Object],[object Object],[object Object]

Force regulation (cont’d) ,[object Object],[object Object]

Force/motion control ,[object Object],[object Object],[object Object],parallel control strategy

Force/motion control (cont’d) ,[object Object],[object Object]

Force/motion control (cont’d) ,[object Object]

Force/motion control (cont’d) ,[object Object],[object Object],[object Object],[object Object],[object Object]

Experiments ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Experiments (cont’d) ,[object Object],[object Object],[object Object],[object Object]

Experiments (cont’d) ,[object Object],[object Object],[object Object],[object Object],[object Object]

Further experiments ,[object Object],[object Object],[object Object],[object Object]

Further experiments (cont’d) ,[object Object],[object Object],[object Object],[object Object],[object Object]

References ,[object Object],[object Object],[object Object],[object Object]

References (cont’d) ,[object Object],[object Object],[object Object],[object Object],[object Object]

Robot force control

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Robot force control