Passivity-Based Force Tracking Control for Flexible Joint Robots

被引：0
|
作者：
Song, Yong [1 ]
Li, Chenggang [1 ]
Wang, Chunming [1 ]
Wu, Zefeng [1 ]
机构：
[1] Nanjing Univ Aeronaut & Astronaut, Coll Mech & Elect Engn, Nanjing, Peoples R China
来源：
2019 9TH IEEE ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER 2019) | 2019年
关键词：
flexible joint; force tracking; passivity; energy tank; BILATERAL TELEOPERATION; IMPEDANCE CONTROL;
D O I：
10.1109/cyber46603.2019.9066609
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper proposes a novel passivity-based force tracking control method for flexible joint robots. A passivity-based Cartesian impedance control approach combined with force tracking scheme is introduced to achieve a stable contact of desired force between the flexible joint robots and environment. By introducing an energy tank to control the energy flow of the system, the problem of passivity has been solved. For various stiffness environment, the tracking error is reduced by the adaptive rate to ensure the accuracy of the force control. The effectiveness of the controller is proved by simulation results.
引用
收藏
页码：7 / 12
页数：6
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