Two Mode Impedance Control of Velma Service Robot Redundant Arm

  • Tomasz Winiarski
  • Konrad Banachowicz
  • Dawid Seredyński
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 351)


The previous research on reactive torque control of redundant arms led to conclusion, that initial arm kinematic configuration is vital for task executed with the use of Cartesian impedance control. To provide that, in the article the control system is proposed with the two following modes of impedance control of redundant manipulators: Joint space and Cartesian space. For this purpose the system was treated as embodied agent with two behaviors of its Virtual Effector (hardware abstraction layer). Each behavior has been decomposed to several components described by automatons and communicate asynchronously with upper layers of the control system. The whole system has been finally verified on real manipulator.


service robot impedance control controller design 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Winiarski, T., Banachowicz, K.: Opening a door with a redundant impedance controlled robot. In: 9th Workshop on Robot Motion & Control (RoMoCo), pp. 221–226 (2013)Google Scholar
  2. 2.
    Bohren, J., Rusu, R.B., Jones, E.G., Marder-Eppstein, E., Pantofaru, C., Wise, M., Mosenlechner, L., Meeussen, W., Holzer, S.: Towards autonomous robotic butlers: Lessons learned with the PR2. In: 2011 IEEE International Conference on Robotics and Automation (ICRA), pp. 5568–5575. IEEE (2011)Google Scholar
  3. 3.
    Beetz, M., Mosenlechner, L., Tenorth, M.: CRAM – a cognitive robot abstract machine for everyday manipulation in human environments. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1012–1017. IEEE (2010)Google Scholar
  4. 4.
    Albu-Schäffer, A., Haddadin, S., Ott, C., Stemmer, A., Wimböck, T., Hirzinger, G.: The dlr lightweight robot: design and control concepts for robots in human environments. Industrial Robot: An International Journal 34(5), 376–385 (2007)CrossRefGoogle Scholar
  5. 5.
    Zieliński, C., Kornuta, T., Winiarski, T.: A systematic method of designing control systems for service and field robots. In: 19th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR 2014, pp. 1–14. IEEE (2014)Google Scholar
  6. 6.
    Winiarski, T., Banachowicz, K., Seredyński, D.: Multi-sensory feedback control in door approaching and opening. In: Filev, D., Jabłkowski, J., Kacprzyk, J., Krawczak, M., Popchev, I., Rutkowski, L. (eds.) Intelligent Systems’2014. AISC, vol. 323, pp. 57–70. Springer, Heidelberg (2015)Google Scholar
  7. 7.
    Zieliński, C., Winiarski, T.: Motion generation in the MRROC++ robot programming framework. International Journal of Robotics Research 29(4), 386–413 (2010)CrossRefGoogle Scholar
  8. 8.
    Albu-Schaffer, A., Ott, C., Frese, U., Hirzinger, G.: Cartesian impedance control of redundant robots: Recent results with the dlr-light-weight-arms. In: International Conference on Robotics and Automation (ICRA), vol. 3, pp. 3704–3709. IEEE (2003)Google Scholar
  9. 9.
    Caccavale, F., Natale, C., Siciliano, B., Villani, L.: Six-dof impedance control based on angle/axis representations. IEEE Transactions on Robotics and Automation 15(2), 289–300 (1999)CrossRefGoogle Scholar
  10. 10.
    Peekema, A., Renjewski, D., Hurst, J.: Open-source real-time robot operation and control system for highly dynamic, modular machines. In: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, American Society of Mechanical Engineers, pp. V07AT10A063–V07AT10A063 (2013)Google Scholar
  11. 11.
    Koh, J.H., Choi, B.W.: Real-time performance of real-time mechanisms for rtai and xenomai in various running conditions. International Journal of Control and Automation 6(1), 235–246 (2013)Google Scholar
  12. 12.
    Albu-Schaffer, A., Ott, C., Hirzinger, G.: A unified passivity-based control framework for position, torque and impedance control of flexible joint robots. The International Journal of Robotics Research 26(1), 23–39 (2007)CrossRefGoogle Scholar

Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Tomasz Winiarski
    • 1
  • Konrad Banachowicz
    • 1
  • Dawid Seredyński
    • 1
  1. 1.Warsaw University of TechnologyWarsawPoland

Personalised recommendations