Paper Info
Title
Proxy-based position control of manipulators with passive compliant actuators: Stability analysis and experiments
Abstract
In this work we introduce a position control scheme which is targeted at the enhancement of the safety of compliant joint robots. In addition to the necessity for accuracy and robustness that both serve as prerequisites for the successful performance of various tasks, the ability to safely handle unexpected events, such as communication failures or unintended interactions which may endanger the robot/human safety, is a paramount requirement. To achieve a smooth motion behaviour of compliant systems under different circumstances, damping control actions are essential. To this end, a novel proxy-based approach for compliant joint robots, integrated into a passivity-guaranteed controller, is proposed. The stability analysis of the proposed scheme is presented and the global asymptotic convergence, as well as the passivity of the control scheme, are analytically proven. The performance of the proposed approach is practically evaluated by means of experiments on a spatial robotic arm with passive compliant actuators, and is compared with that of a classical PD approach. Experimental results validate the ability of the proposed approach to inject damping in order to provide smooth and damped recovery when an interruption in task execution occurs.
Year
DOI
Venue
2016
10.1016/j.robot.2015.09.003
Robotics and Autonomous Systems
Keywords
DocType
Volume
Compliant joints,Position control,Proxy-based sliding mode control,Flexible joint manipulators
Journal
75
Issue
ISSN
Citations 
PB
0921-8890
3
PageRank 
References 
Authors
0.43
17
6
Name
Order
Citations
PageRank
Navvab Kashiri15113.30
Jinoh Lee212217.95
Nikolaos G. Tsagarakis340447.10
Michaël Van Damme438233.32
Bram Vanderborght51029117.65
Darwin G. Caldwell62900319.72