Bibliographic citations
Fabián, J., (2022). Diseño y simulación de un controlador de impedancia en robots manipuladores para interacción con superficies irregulares [Tesis, Universidad de Ingeniería y Tecnología]. https://hdl.handle.net/20.500.12815/285
Fabián, J., Diseño y simulación de un controlador de impedancia en robots manipuladores para interacción con superficies irregulares [Tesis]. PE: Universidad de Ingeniería y Tecnología; 2022. https://hdl.handle.net/20.500.12815/285
@misc{renati/231215,
title = "Diseño y simulación de un controlador de impedancia en robots manipuladores para interacción con superficies irregulares",
author = "Fabián Lizárraga, Joao Ulises",
publisher = "Universidad de Ingeniería y Tecnología",
year = "2022"
}
Robotic manipulators are included in tasks that imply interaction with objects and living beings. It is necessary to control the robot taking into account specific kinematic and dynamic constraints to ensure excellent performance in these activities. Depending on the sensing systems, these constraints could be set before the robot starts to perform any task, or estimated during its operation. In this work, we present a control system design for the UR5 robot considering no exteroceptive force/torque sensing. This controller allows the robot to move from an initial pose to a desired one handling possible interactions of the robot’s end-effector with uneven surface objects during its trajectory. A dynamic desired behavior is defined in the controller’s synthesis to achieve a gentle interaction without affecting the convergence of the robot to the desired state. This desired behavior is chosen as a mechanical impedance conformed by linear elements of inertia, damping and stiffness. The performance of the proposed impedance controller is tested by simulating dynamically the controlled UR5 robot in two environments. One of these allows the robot to move in space without external constraints, while the other has an object positioned in order to interfere with the robot’s trajectory. For both environmets, the impedance controller is evaluated by comparing it to the robot’s behavior when it is controlled in position. The results show that, in an unconstrained environment, both formulations converge to the desired pose. However, in cases where the robot interacts during its trajectory, the behavior of the impedance controlled system clearly outperforms the position control.
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