Impedance Shaping Controller for Robotic Applications in Interaction with Compliant Environments (Contributo in atti di convegno)

Type

• Contributo in atti di convegno (Classe)
• Prodotto della ricerca (Classe)

Label

• Impedance Shaping Controller for Robotic Applications in Interaction with Compliant Environments (Contributo in atti di convegno) (literal)

Anno

• 2014-01-01T00:00:00+01:00 (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#doi

• 10.5220/0005059504440450 (literal)

Alternative label

• Roveda, L. and Vicentini, F. and Pedrocchi, N. and Braghin, F. and Molinari Tosatti, L. (2014)
  Impedance Shaping Controller for Robotic Applications in Interaction with Compliant Environments
  in 11th International Conference on Informatics in Control, Automation and Robotics, Vien, Austria, September 1st-3rd
  (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#autori

• Roveda, L. and Vicentini, F. and Pedrocchi, N. and Braghin, F. and Molinari Tosatti, L. (literal)

Pagina inizio

• 444 (literal)

Pagina fine

• 450 (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#url

• http://www.scitepress.org/DigitalLibrary/Link.aspx?doi=10.5220/0005059504440450 (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#titoloVolume

• Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#numeroVolume

• 2 (literal)

Note

• Scopu (literal)
• Google Scholar (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#affiliazioni

• 1 Consiglio Nazionale delle Ricerche, Istituto di Tecnologie Industriali ed Automazione 2 Politecnico di Milano (literal)

Titolo

• Impedance Shaping Controller for Robotic Applications in Interaction with Compliant Environments (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#isbn

• 978-989-758-039-0 (literal)

Abstract

• The impedance shaping control is presented in this paper, providing an extension of standard impedance controller. The method has been conceived to avoid force overshoots in applications where there is the need to track a force reference. Force tracking performance are obtained tuning on-line both the position setpoint and the stiffness and damping parameters, based on the force error and on the estimated stiffness of the interacting environment (an Extended Kalman Filter is used). The stability of the presented strategy has been studied through Lyapunov. To validate the performance of the control an assembly task is taken into account, considering the geometrical and mechanical properties of the environment (partially) unknown. Results are compared with constant stiffness and damping impedance controllers, which show force overshoots and instabilities. (literal)

Prodotto di

• Macchine, robot e servizi innovativi customer oriented (SP.P03.004.001) (Modulo)

Autore CNR

• LORIS ROVEDA (Unità di personale interno)
• LORENZO MOLINARI TOSATTI (Persona)
• FEDERICO VICENTINI (Unità di personale interno)
• NICOLA PEDROCCHI (Persona)

Incoming links:

Autore CNR di

• LORENZO MOLINARI TOSATTI (Persona)
• NICOLA PEDROCCHI (Persona)
• FEDERICO VICENTINI (Unità di personale interno)
• LORIS ROVEDA (Unità di personale interno)

Prodotto

• Macchine, robot e servizi innovativi customer oriented (SP.P03.004.001) (Modulo)