Skip to main content
SpringerLink
Log in

Experimental Implementation of Impedance Based Control Schemes for Assembly Task

  • Published:
Journal of Intelligent and Robotic Systems Aims and scope Submit manuscript

Abstract

Compliant manipulation tasks require the robot to follow a motion trajectory and to exert a force profile while making compliant contact with a dynamic environment. For this purpose, a generalized impedance in the task space is introduced such that the desired motion and the desired interaction force can be commanded and controlled simultaneously. Several control schemes which place different emphases on motion control or force control can be derived from the generalized impedance. The impedance-based control schemes are implemented and the performance evaluated on a common test-bed which involves the insertion of a printed circuit board into an edge connector socket. Experimental results demonstrate the superior motion and force tracking ability of the generalized impedance control method. Furthermore, safe task execution can be achieved in the presence of abnormal operating situation.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. An, C. H., Atkeson, C. G., Griffiths, J. D., and Hollerbach, J. M.: Experimental evaluation of feedforward and computed torque control, IEEE Trans. Robotics Automat. 5(3) (1989), 368–373.

    Google Scholar 

  2. Anderson, R. J. and Spong, M. W.: Hybrid impedance control of robotic manipulators, IEEE J. Robotics Automat. 4(5) (1988), 549–556.

    Google Scholar 

  3. Chan, S. P. and Liaw, H. C.: A parameter estimation technique for SCARA robots, in: Proc. of the 3rd Internat. Conf. on Automation, Robotics and Computer Vision (ICARCV'94), Singapore, 1994, pp. 1487–1491.

  4. Chiaverini, S. and Sciavicco, L.: The parallel approach to force/position control of robotic manipulators, IEEE Trans. Robotics Automat. 9(4) (1993), 361–373.

    Google Scholar 

  5. Hogan, N.: Impedance control: An approach to manipulation: Part I: Theory, Part II: Implementation, Part III: Applications, ASME J. Dynamic Systems Meas. Control 107 (1985), 1–24.

    Google Scholar 

  6. Hogan, N.: Stable execution of contact tasks using impedance control, in: Proc. of IEEE Internat. Conf. on Robotics and Automation, Raleigh, NC, March 1987, pp. 1047–1054.

  7. Karerooni, H., Sheridan, T. B., and Houpt, P. K.: Robust compliant motion for manipulators, Part I: The fundamental concepts of compliant motion, Part II: Design method, IEEE J. Robotics Automat. 2(2) (1986), 83–105.

    Google Scholar 

  8. Khatib, O.: A unified approach for motion and force control of robot manipulators: The operational space formulation, IEEE J. Robotics Automat. 3(1) (1987), 43–53.

    Google Scholar 

  9. Khosla, P. K.: Estimation of robot dynamic parameters: Theory and application, Internat. J. Robotics Automat. 3(1) (1988), 35–41.

    Google Scholar 

  10. Lee, S. and Lee, H. S.: Intelligent control of manipulators interacting with an uncertain environment based on generalized impedance, in: Proc. of IEEE Internat. Symp. on Intelligent Control, Arlington, Virginia, August 1991, pp. 61–66.

  11. Liegeois, A., Dombre, E., and Borrel, P.: Learning and control for a compliant computercontrolled manipulator, IEEE Trans. Automat. Control 25(6) (1980), 1097–1102.

    Google Scholar 

  12. Luo, Z. W. and Ito, M.: Control design of robot for compliant manipulation on dynamic environments, IEEE Trans. Robotics Automat. 9(3) (1993), 286–296.

    Google Scholar 

  13. Makino, H. and Furuya, N.: SCARA robot and its family, in: Proc. of the 3rd Internat. Conf. on Assembly Automation, Germany, 1982, pp. 433–444.

  14. Tsujimura, T. and Yabuta, T.: Adaptive force control of screwdriving with a positioning-control manipulator, Robotics Autonom. Systems 7 (1991), 57–65.

    Google Scholar 

  15. Volpe, R. and Khosla, P.: Computational considerations in the implementation of force control strategies, J. Intelligent Robotic Systems 9 (1994), 121–148.

    Google Scholar 

  16. Whitcomb, L. L., Rizzi, A. A., and Koditschek, D. E.: Comparative experiments with a new adaptive controller for robot arms, IEEE Trans. Robotics Automat. 9(1) (1993), 59–70.

    Google Scholar 

  17. Whitney, D. E.: Historical perspective and state of the art in robot force control, Internat. J. Robotics Res. 6(1) (1987), 3–14.

    Google Scholar 

  18. Yao, B., Chan, S. P., and Wang, D.: Unified formulation of variable structure control schemes for robot manipulators, IEEE Trans. Automat. Control 39(2) (1994), 371–376.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. School of Electrical and Electronic Engineering, Nanyang Technological University, Block S1, Singapore, 639798, Republic of Singapore

    S. P. Chan & H. C. Liaw

Authors
  1. S. P. Chan
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. H. C. Liaw
    View author publications

    You can also search for this author in PubMed Google Scholar

Rights and permissions

Reprints and permissions

About this article

Cite this article

Chan, S.P., Liaw, H.C. Experimental Implementation of Impedance Based Control Schemes for Assembly Task. Journal of Intelligent and Robotic Systems 29, 93–110 (2000). https://doi.org/10.1023/A:1008148625497

Download citation

  • Issue Date:

  • DOI: https://doi.org/10.1023/A:1008148625497

Search

Navigation