Robotic Force Control using Observer-based Strict Positive Real Impedance Control

Rolf Johansson; Anders Robertsson

doi:10.1109/ROBOT.2003.1242162

Robotic Force Control using Observer-based Strict Positive Real Impedance Control

Rolf Johansson, Anders Robertsson

Department of Automatic Control

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

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Abstract

This paper presents theoretical and experimentalresults on observer-based impedance control for forcecontrol without velocity feedback. As the velocity may notavailable to measurement, which is often the case for industrialrobots, an observer was designed to reconstruct velocityin such a way that it be useful for stabilizing feedbackcontrol and to modification of the damping in the impedancerelationship. A good model of the robot joint used wasobtained by system identification. Experiments were carriedout on an ABB industrial robot 2000 to demonstrate resultson observer-based SPR feedback applied in the design.Stability was shown via a modified Popov criterion.

Original language	English
Title of host publication	Proceedings. ICRA '03.
Publisher	IEEE - Institute of Electrical and Electronics Engineers Inc.
Pages	3686-3691
Volume	3
ISBN (Print)	0-7803-7736-2
DOIs	https://doi.org/10.1109/ROBOT.2003.1242162
Publication status	Published - 2003

Publication series

Name
Volume	3
ISSN (Print)	1050-4729
ISSN (Electronic)	2152-4092

Subject classification (UKÄ)

Control Engineering

Free keywords

velocity feedback
stability
robotic force control
observer
industrial robots
impedance control
feedback control
ABB industrial robot 2000
Popov criterion

Access to Document

10.1109/ROBOT.2003.1242162

jahansson_robertsson_IEEE_ICRA03

1 Active
2 Finished

RobotLab LTH
Bagge Carlson, F. (Researcher), Johansson, R. (Researcher), Karlsson, M. (Researcher), Olofsson, B. (Researcher), Robertsson, A. (Researcher), Robertz, S. (Researcher), Haage, M. (Researcher), Malec, J. (Researcher), Nilsson, K. (Researcher), Nugues, P. (Researcher), Stenmark, M. (Researcher), Topp, E. A. (Researcher), Krueger, V. (Researcher), Åström, H. (Researcher), Mayr, M. (Researcher), Salt Ducaju, J. (Researcher), Nishimura, M. (Administrator), Wisbrant, J. (Project communication officer), Dürr, A. (Researcher), Mayr, M. (Researcher), Nugues, P. (Researcher), Klang, M. (Research engineer), Klöckner, M. (Researcher), Nardi, L. (Researcher), Ahmad, F. (Researcher), Oxenstierna, J. (Researcher), Rizwan, M. (Researcher), Reichenbach, C. (Researcher), Bergström, J. (Researcher), Dell'Unto, N. (Researcher), Maunsbach, L. (Researcher), Åström, K. (Researcher), Blomdell, A. (Research engineer), Magnusson, M. (Researcher), Fransson, P.-A. (Researcher), Karayiannidis, Y. (Researcher), Johansson, A. T. (Researcher), Jia, Z. (Researcher), Laban, L. (Researcher), Wingqvist, B. (Researcher), Guberina, M. (Researcher), Jena, A. (Researcher), Westin, E. (Administrator), Frick, C. (Administrator), Pisarevskiy, A. (Research engineer), Nilsson, A. (Research engineer), Reitmann, S. (Researcher), Hvarfner, C. (Researcher), Stoltenberg, P. (Researcher) & Fregnan, S. (Researcher)
1993/01/01 → …
Project: Research
Sensor-based Integration and Task-level Programming, 1999-2002.
Johansson, R. (PI)
1999/01/01 → 2002/12/31
Project: Research
Lund Research Programme in Autonomous Robotics, 1998-2001
Johansson, R. (PI)
1998/01/01 → 2001/12/31
Project: Research

RobotLab LTH Infrastructure
Krueger, V. (Manager), Olofsson, B. (Manager), Karayiannidis, Y. (Manager), Haage, M. (Manager), Malec, J. (Manager) & Topp, E. A. (Manager)
Faculty of Engineering, LTH
Infrastructure

Cite this

@inproceedings{4e6e0366fa91402ab695a97112338ecd,

title = "Robotic Force Control using Observer-based Strict Positive Real Impedance Control",

abstract = "This paper presents theoretical and experimentalresults on observer-based impedance control for forcecontrol without velocity feedback. As the velocity may notavailable to measurement, which is often the case for industrialrobots, an observer was designed to reconstruct velocityin such a way that it be useful for stabilizing feedbackcontrol and to modification of the damping in the impedancerelationship. A good model of the robot joint used wasobtained by system identification. Experiments were carriedout on an ABB industrial robot 2000 to demonstrate resultson observer-based SPR feedback applied in the design.Stability was shown via a modified Popov criterion.",

keywords = "velocity feedback, stability, robotic force control, observer, industrial robots, impedance control, feedback control, ABB industrial robot 2000, Popov criterion",

author = "Rolf Johansson and Anders Robertsson",

year = "2003",

doi = "10.1109/ROBOT.2003.1242162",

language = "English",

isbn = "0-7803-7736-2",

volume = "3",

publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",

pages = "3686--3691",

booktitle = "Proceedings. ICRA '03.",

address = "United States",

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T1 - Robotic Force Control using Observer-based Strict Positive Real Impedance Control

AU - Johansson, Rolf

AU - Robertsson, Anders

PY - 2003

Y1 - 2003

N2 - This paper presents theoretical and experimentalresults on observer-based impedance control for forcecontrol without velocity feedback. As the velocity may notavailable to measurement, which is often the case for industrialrobots, an observer was designed to reconstruct velocityin such a way that it be useful for stabilizing feedbackcontrol and to modification of the damping in the impedancerelationship. A good model of the robot joint used wasobtained by system identification. Experiments were carriedout on an ABB industrial robot 2000 to demonstrate resultson observer-based SPR feedback applied in the design.Stability was shown via a modified Popov criterion.

AB - This paper presents theoretical and experimentalresults on observer-based impedance control for forcecontrol without velocity feedback. As the velocity may notavailable to measurement, which is often the case for industrialrobots, an observer was designed to reconstruct velocityin such a way that it be useful for stabilizing feedbackcontrol and to modification of the damping in the impedancerelationship. A good model of the robot joint used wasobtained by system identification. Experiments were carriedout on an ABB industrial robot 2000 to demonstrate resultson observer-based SPR feedback applied in the design.Stability was shown via a modified Popov criterion.

KW - velocity feedback

KW - stability

KW - robotic force control

KW - observer

KW - industrial robots

KW - impedance control

KW - feedback control

KW - ABB industrial robot 2000

KW - Popov criterion

U2 - 10.1109/ROBOT.2003.1242162

DO - 10.1109/ROBOT.2003.1242162

M3 - Paper in conference proceeding

SN - 0-7803-7736-2

VL - 3

SP - 3686

EP - 3691

BT - Proceedings. ICRA '03.

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

ER -

Robotic Force Control using Observer-based Strict Positive Real Impedance Control

Abstract

Publication series

Subject classification (UKÄ)

Free keywords

Access to Document

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Projects

RobotLab LTH

Sensor-based Integration and Task-level Programming, 1999-2002.

Lund Research Programme in Autonomous Robotics, 1998-2001

Equipment

RobotLab LTH Infrastructure

Cite this