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The actual impedance control scheme has been derived by resorting to an inverse dynamics strategy with contact force and moment measurement, with the adoption of an inner loop on end-effector position and orientation aimed at dis- turbance rejection. An experimental study has been carried out on an indus- trial robot with open control architecture and forcehorque sensor. The numerical results of a case study have demon- strated the good performance of the robot manipulator when its end effector comes into contact with a compliant surface of unknown location. As well known, impedance control represents an indirect way of controlling the interaction force. Future research efforts will thus be devoted to apply the findings of the present work to the force control problem, i.e. when the contact force and moment are required to reach a desired value. Acknowledgments This work was supported by Minister0 dell’Universit2 e della Ricerca Scientijka e Tecnologica. References [I] N. Hogan, “Impedance control: An approach to ma- nipulation, Parts 1-111,” ASME J. of Dynamic Systems, Measurement, and Control, vol. 107, pp. 1-24, 1985. [2] J.K. Salisbury, “Active stiffness control of a manipu- lator in Cartesian coordinates,” Proc. 19th IEEE Con$ Decision and Control, Albuquerque, NM, 1980, pp. 95- 100. [3] 0. Khatib, “A unified approach for motion and force control of robot manipulators: The operational space formulation,” IEEE J. of Robotics and Automation, [4] L. Sciavicco and B. Siciliano, Modeling and Control of Robot Manipulators, McGraw-Hill, New York, NY, 1996. [5] P.C. Hughes, Spacecraft Attitude Dynamics, Wiley, New York, NY, 1996. [6] J.T.-Y. Wen and K. Kreutz-Delgado, “The attitude control problem,” IEEE Trans. on Automatic Control, [7] 0. Egeland and J.-M. Godhavn, “Passivity-based adap- tive attitude control of a rigid spacecraft,” IEEE Trans. on Automatic Control, vol. 39, pp. 842-846, 1994. [8] J.S.-C. Yuan, “Closed-loop manipulator control using quaternion feedback,” IEEE J. of Robotics andAutoma- tion, vol. 4, pp. 434-440, 1988. [9] J. LonEariC, “Normal forms of stiffness and compliance matrices,” IEEE J. of Robotics and Automution, vol. 3, [ 101 E.D. Fasse, “Simplification of compliance selection us- ing spatial compliance control,” Proc. ASME Dynamic Systems and Control Division, vol. 57-1, pp. 193-198, 1995. [Ill E.D. Fasse and J.F. Broenink, “A spatial impedance controller for robotic manipulation,” IEEE Trans. on Robotics and Automation, to appear, 1997. [12] J.Y.S. Luh, M.W. Walker, and R.P.C. Paul, “Resolved- acceleration control of mechanical manipulators,” IEEE Trans. on Automatic Control, vol. 25, pp. 468-474, 1980. [13] W.-S. Lu and Q.-H. Meng, “Impedance control with adaptation for robotic manipulators,” IEEE Trans. on Robotics andAutomation, vol. 7, pp. 408-415, 1991. [ 141 J.-J.E. Slotine and W. Li, Applied Nonlinear Control, Prentice-Hall, Englewoods Cliffs, NJ, 1991. [ 151 G. Antonelli, F. Caccavale, and P. Chiacchio, “Experi- mental estimation of dynamic parameters for an indus- trial manipulator,” Proc. 2nd IMACS Symp. on Mathe- matical Modelling, Vienna, A, 1997, pp. 667-672. vol. 3, pp. 43-53, 1987. vol. 36, pp. 1148-1162,1991. pp. 567-572,1987.
摘要：本文档的主要内容是介绍阻抗控制的优尔自由度机器人操作装置的交互工作。一个基于能量的公式正式地推动了动力学方程的字符定义在末端执行器对机械阻抗的描述。逆动力学策略与接触力和力矩的测量的采用可以得到与结构无关的期望的阻抗。对于给定的接触力和力矩，阻抗控制方案，提出了作用于这两种平移位移并在末端执行器的方向是使用奇异自由的代表在一个统一的四元数来描述旋转位移。在工业机器人开放式控制架构的实验结果介绍。论文网