Cartesian Impedance Control for Space Robotic Arm Based on End Force/Torque Sensor

Abstract:

Article Preview

A Cartesian impedance control for a 7-DOF space robotic arm (SRA) based on the feedback from a 6-dimensional force/torque sensor on its end effecter is presented in this paper. The unavoidable position error of SRA would generate large contact forces during the connection between SRA’s end effecter (EE) and grapple fixture (GF). To control the contact force we used 6D force feedback to modify the desired trajectory controlling a PID position inner loop to make the manipulator exert desired impedance dynamic properties on its end-effecter. After optimization of impedance parameters in Simulink, this control strategy has significantly improved the force control effect in EE/GF connection experiment. Kinematic solution of the 7-DOF redundant manipulator is also provided.

Info:

Periodical:

Edited by:

Huawu Liu, Yongxin Yang, Shijie Shen, Zhili Zhong, Laijiu Zheng and Peng Feng

Pages:

1531-1537

DOI:

10.4028/www.scientific.net/AMM.268-270.1531

Citation:

X. X. Dong et al., "Cartesian Impedance Control for Space Robotic Arm Based on End Force/Torque Sensor", Applied Mechanics and Materials, Vols. 268-270, pp. 1531-1537, 2013

Online since:

December 2012

Export:

Price:

$38.00

[1] N. Hogan, Impedance Control: an Approach to Manipulation: I-Theory. II-Implementation. III-Application, ASME Transations, Journal of Dynamic Systems, Measerment and Control (ISSN 0022-0434), vol. 107, (1985).

[2] L. Yang, X. Gao, H. Liu, H. Gao, Cartesian Impedance Control for HIT Dexterous Robot Hand based on Fingertip Force Sensor, Control and Decision, 2004, vol. 19 No. 11, pp.1255-1258(In Chinese).

[3] H. Liu, G. Hirzinger, Cartesian Impedance Control for the DLR Hand, Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robot and Systems, pp.106-112.

DOI: 10.1109/aim.1999.803252

[4] C. Ott, Y. Nakamura, Base Force/Torque Sensing for Position based Cartesian Impedance Control, The 2009 IEEE/RSJ International Conference on Intelligent Robot and Systems. October, 2009, St. Louis, USA, pp.11-15.

DOI: 10.1109/iros.2009.5354136

[5] Salisbury J. K., Craig J. J., Articulated Hands: Force Control and Kinematics Issues, Int. J . Robot. Res. Vol. 1, 1982, pp.4-17.

[6] D. Zu, Z. Wu, D. T, Efficient Inverse Kinematic Solution for Redundant Manipulators, Chinese Journal of mechanical Engineering, vol. 41, 2005, pp.71-75(In Chinese).

DOI: 10.3901/jme.2005.06.071

In order to see related information, you need to Login.