Paper Info
Title
Adaptive multi-dimensional compliance control of a humanoid robotic arm with anti-windup compensation
Abstract
An adaptive multi-dimensional compliance model reference controller was implemented in real-time on a 4 degrees of freedom (DOF) of the humanoid Bristol-Elumotion-Robotic-Torso II (BERT II) arm in Cartesian space. The robot manipulator has been controlled in such a way as to follow the compliant passive behaviour of a reference mass-spring-damper system model subject to externally sensed forces/torques in all DOF. The relevant reference model converts all measured torques into their equivalent forces at the end-effector and reacts accordingly. The suggested control scheme takes in particular account of the multi-variable aspect and the problem of body own torques when measuring external torques. The redundant DOF were used to control the robot motion in a human-like pattern via effort minimization. Associated actuator saturation issues were addressed by incorporating a novel anti-windup (AW) compensator.
Year
DOI
Venue
2010
10.1109/IROS.2010.5649128
Intelligent Robots and Systems
Keywords
Field
DocType
adaptive control,compliance control,end effectors,human-robot interaction,humanoid robots,multivariable control systems,shock absorbers,springs (mechanical),torque,adaptive multidimensional compliance control,antiwindup compensation,degrees of freedom,externally sensed force,humanoid Bristol Elumotion Robotic Torso II arm,humanoid robotic arm,mass spring damper system,robot manipulator
Robotic arm,Control theory,Reference model,Control theory,Computer science,Robot kinematics,Robot end effector,Control engineering,Adaptive control,Humanoid robot,Actuator
Conference
ISSN
ISBN
Citations 
2153-0858
978-1-4244-6674-0
9
PageRank 
References 
Authors
0.79
11
4
Name
Order
Citations
PageRank
Said Ghani Khan1716.71
Guido Herrmann28311.31
Anthony G. Pipe325539.08
Chris Melhuish474787.61