An Optimization-Based Impedance Approach for Robot Force Regulation with Prescribed Force Limits

An optimization based approach for the regulation of excessive or insufficient forces at the end-effector level is introduced. The objective is to minimize the interaction force error at the robot end effector, while constraining undesired interaction forces. To that end, a dynamic optimization prob...

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Bibliographic Details
Published in:Mathematical problems in engineering 2015-01, Vol.2015 (2015), p.1-13
Main Authors: Portillo-Vélez, R. de J., Cruz-Villar, Carlos A., Rodriguez-Angeles, A.
Format: Article
Language:English
Subjects:
Algorithms
Control
Dopants
Dynamics
End effectors
Flow stability
Gradient flow
Grasping
Grasping (robotics)
Impedance
Kinematics
Mathematical models
Motion control
Optimization
Ordinary differential equations
Parameter estimation
Penalty function
Robotics
Robots
Sensors
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Summary:An optimization based approach for the regulation of excessive or insufficient forces at the end-effector level is introduced. The objective is to minimize the interaction force error at the robot end effector, while constraining undesired interaction forces. To that end, a dynamic optimization problem (DOP) is formulated considering a dynamic robot impedance model. Penalty functions are considered in the DOP to handle the constraints on the interaction force. The optimization problem is online solved through the gradient flow approach. Convergence properties are presented and the stability is drawn when the force limits are considered in the analysis. The effectiveness of our proposal is validated via experimental results for a robotic grasping task.
ISSN:1024-123X
1563-5147
DOI:10.1155/2015/918301