Abstract
Whenrobots physically interact with the environment, compliant behaviors should be imposed to prevent damages to all entities involved in the interaction. Moreover, during physical interactions, appropriate pose controllers are usually based on the robot dynamics, in which the ill-conditioning of the joint-space inertia matrix may lead to poor performance or even instability. When the control is not precise, large interaction forces may appear due to disturbed end-effector poses, resulting in unsafe interactions. To overcome these problems, we propose a task-space admittance controller in which the inertia matrix conditioning is adapted online. To this end, the control architecture consists of an admittance controller in the outer loop, which changes the reference trajectory to the robot end-effector to achieve a desired compliant behavior; and an adaptive inertia matrix conditioning controller in the inner loop to track this trajectory and improve the closed-loop performance. We evaluated the proposed architecture on a KUKA LWR4+ robot and compared it, via rigorous statistical analyses, to an architecture in which the proposed inner motion controller was replaced by two widely used ones. The admittance controller with adaptive inertia conditioning presents better performance than with a controller based on the inverse dynamics with feedback linearization, and similar results when compared to the PID controller with gravity compensation in the inner loop.
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Acknowledgments
This work was supported by the Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES), Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq) under Grant 424011/2016-6 and Grant 303901/2018-7, and the Centre National de la Recherche Scientifique (CNRS).
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Fonseca, M.d.P.A., Adorno, B.V. & Fraisse, P. Task-Space Admittance Controller with Adaptive Inertia Matrix Conditioning. J Intell Robot Syst 101, 41 (2021). https://doi.org/10.1007/s10846-020-01275-0
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DOI: https://doi.org/10.1007/s10846-020-01275-0