The paper presents active impedance control for robotic comanipulation tasks, enabling virtual contact interactions. Computed torque control in the task space powered by multiple-output active observers (AOBs) is proposed, enhancing haptic perception. Forces and force derivatives are artificially measured from position data around an equilibrium point that can move with time. Control techniques to deal with critical impedances are introduced, taking into account the noise distribution along the system. Stochastic design is discussed. A dynamic model of the redundant lightweight 7-DOF WAM™ arm is derived and evaluated, playing a key role in the control design. Experiments for small and high impedances are presented, highlighting merits and limitations of the approach. A comparative study between active and non-active impedance control is made.
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ASME-AFM 2009 World Conference on Innovative Virtual Reality
February 25–26, 2009
Chalon-sur-Saoˆne, France
Conference Sponsors:
- International
ISBN:
978-0-7918-4337-6
PROCEEDINGS PAPER
Robotic Comanipulation With Active Impedance Control
Rui Cortesa˜o,
Rui Cortesa˜o
University of Coimbra, Coimbra, Portugal
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Brian Zenowich,
Brian Zenowich
Barrett Technology Inc., Cambridge, MA
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Rui Arau´jo,
Rui Arau´jo
University of Coimbra, Coimbra, Portugal
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William Townsend
William Townsend
Barrett Technology Inc., Cambridge, MA
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Rui Cortesa˜o
University of Coimbra, Coimbra, Portugal
Brian Zenowich
Barrett Technology Inc., Cambridge, MA
Rui Arau´jo
University of Coimbra, Coimbra, Portugal
William Townsend
Barrett Technology Inc., Cambridge, MA
Paper No:
WINVR2009-724, pp. 129-135; 7 pages
Published Online:
August 24, 2009
Citation
Cortesa˜o, R, Zenowich, B, Arau´jo, R, & Townsend, W. "Robotic Comanipulation With Active Impedance Control." Proceedings of the ASME-AFM 2009 World Conference on Innovative Virtual Reality. ASME-AFM 2009 World Conference on Innovative Virtual Reality. Chalon-sur-Saoˆne, France. February 25–26, 2009. pp. 129-135. ASME. https://doi.org/10.1115/WINVR2009-724
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