An approach of integrating force sensing and safety operation for manipulator

Abstract

Purpose

The aim of this paper is to prove that the manipulator is able to contact the environment compliantly, and reduce the instantaneous collision impact.

Design/methodology/approach

Cartesian impedance control law is introduced to interrelate the external force with the Cartesian position.

Findings

When the estimated external force sensor feedback is the input of the on‐line trajectory regeneration, a novel online motion plan could be performed in a task‐consistent manner keeping the interaction force within the acceptable tolerance. The proposed approach also proves that the manipulator is able to contact the environment compliantly, and reduce the instantaneous collision impact. The virtual decomposition control, simplifying the Cartesian impedance control application of the manipulator and guaranteeing the asymptotical stability of the entire system, is implemented to actualize the approach. Furthermore, adaptive dynamics joint controller is extended to all the joints for complementing the biggish friction.

Originality/value

With the proposed adaptive Cartesian impedance control and the online path planner, the robot will be manipulation‐friendly in an unstructured environment.

Citation

Xie, Z., Li, C. and Liu, H. (2013), "An approach of integrating force sensing and safety operation for manipulator", International Journal of Intelligent Unmanned Systems, Vol. 1 No. 1, pp. 62-75. https://doi.org/10.1108/20496421311298143