NDLI: An impedance-compliance control for a cable-actuated robot

Content Provider	IEEE Xplore Digital Library
Author	Zollo, L. Siciliano, B. Laschi, C. Teti, G. Dario, P. Guglielmelli, E.
Copyright Year	2002
Description	Author affiliation: ARTS Lab., Scuola Superiore Sant'Anna, Pisa, Italy (Zollo, L.)
Abstract	A research work on the interaction control of a cable-actuated robot arm, the Dexter arm, is presented in this paper. Firstly, general considerations on the cable-actuated structures and their application potential are provided and then the Dexter structure peculiarities are accurately analyzed in order to develop proper control solutions. Starting from the analysis of the limitations of the compliance control schemes in Cartesian space and in joint space, previously implemented and experimentally validated on the Dexter arm, a novel control strategy, named impedance-compliance controller, is developed. The proposed control strategy tries to combine the benefits of a compliance control scheme in Cartesian space with the benefits of an impedance control scheme in the operational space by compensating the dynamics of the sole proximal joints. The impedance-compliance controller is capable to achieve accurate smooth motions while guaranteeing functional control of the whole structure, even though a greater computational complexity is required The last section of the paper, dedicated to the experimental results, points out the differences with the previously experimented control solutions anti provides some proofs of the increased Dexter functionality.
Sponsorship	IEEE Robotics & Autom. Soc. IEEE Ind. Electron. Soc. Robotics Soc. Japan Soc. Instrum. & Control Eng. INRIA Rhone-Alpes Grenoble EPFL Lausanne
Starting Page	2268
Ending Page	2273
File Size	448755
Page Count	6
File Format	PDF
ISBN	0780373987
DOI	10.1109/IRDS.2002.1041605
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-09-30
Publisher Place	Switzerland
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Impedance Service robots Motion control Force control Control systems Communication cables Friction Robotic assembly Subspace constraints Laboratories
Content Type	Text
Resource Type	Article

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