Development of Impedance Control Based Strategies for Light-Weight Manipulator Applications Involving Compliant Interacting Environments and Compliant Bases (Contributo in atti di convegno)

Type

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

Label

• Development of Impedance Control Based Strategies for Light-Weight Manipulator Applications Involving Compliant Interacting Environments and Compliant Bases (Contributo in atti di convegno) (literal)

Anno

• 2014-01-01T00:00:00+01:00 (literal)

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

• 10.1115/ESDA2014-20136 (literal)

Alternative label

• Roveda, L. and Vicentini, F. and Pedrocchi, N. and Molinari Tosatti, L. and Braghin, F. (2014)
  Development of Impedance Control Based Strategies for Light-Weight Manipulator Applications Involving Compliant Interacting Environments and Compliant Bases
  in ASME 2014 12th Biennial Conference on Engineering Systems Design and Analysis (ESDA2014), Copenhagen, Denmark, June 25-27, 2014
  (literal)

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

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

Pagina inizio

• V003T17A003 (literal)

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

• http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1920184 (literal)

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

• ASME 2014 12th Biennial Conference on Engineering Systems Design and Analysis Volume 3: Engineering Systems; Heat Transfer and Thermal Engineering; Materials and Tribology; Mechatronics; Robotics (literal)

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

• 10 (literal)

Note

• Google Scholar (literal)
• Scopu (literal)

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

• Consiglio Nazionale delle Ricerche, Politecnico di Milano (literal)

Titolo

• Development of Impedance Control Based Strategies for Light-Weight Manipulator Applications Involving Compliant Interacting Environments and Compliant Bases (literal)

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

• 978-0-7918-4585-1 (literal)

Abstract

• The paper defines impedance control based control laws for interaction tasks with environments of unknown geometrical and mechanical properties, both considering manipulators mounted on A) rigid and B) compliant bases. In A) a deformation-tracking strategy allows the control of a desired deformation of the target environment. In B) a force-tracking strategy allows the control of a desired interaction force. In both A) and B) the on-line estimation of the environment stiffness is required. Therefore, an Extended Kalman Filter is defined. In B) the on-line estimation of the robot base position is used as a feedback in the control loop. The compliant base is modelled as a second-order physical system with known parameters (offline identification) and the base position is estimated from the measure of interaction forces. The Extended Kalman Filter, the grounding position estimation and the defined control laws are validated in simulation and with experiments, especially dedicated to an insertion-assembly task with A) time-varing stiffness environment and B) constant stiffness environment. (literal)

Editore

• ASME-American Society Of Mechanical Engineers (Editore)

Prodotto di

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

Autore CNR

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

Incoming links:

Autore CNR di

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

Prodotto

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

Editore di

• ASME-American Society Of Mechanical Engineers (Editore)