The 2010 IEEE/RSJ International Conference on Intelligent RObots and Systems, Taipei International Convention Center, Taipei, Taiwan, October 18-22, 2010
  

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Paper WeAT5.5

Khan, Said Ghani (University of West England, Bristol, UK), Herrmann, Guido (University of Bristol), Pipe, Tony (Bristol Robotics Laboratory), Melhuish, Chris (BRL)

Adaptive Multi-Dimensional Compliance Control of a Humanoid Robotic Arm with Anti-Windup Compensation

Scheduled for presentation during the Regular Sessions "Humanoid Robots IV" (WeAT5), Wednesday, October 20, 2010, 10:50−11:10, 103

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 18-22, 2010, Taipei International Convention Center, Taipei, Taiwan

This information is tentative and subject to change. Compiled on February 21, 2019

Keywords Humanoid Robots, Adaptive Control, Force Control

Abstract

An adaptive multi-dimensional compliance model reference controller was implemented in real-time on a 4 degrees of freedom (DOF) of the humanoid Bristol-Elumotion-Robotic-Torso II (BERT II) arm in Cartesian space. The robot manipulator has been controlled in such a way as to follow the compliant passive behaviour of a reference mass-spring-damper system model subject to externally sensed forces/torques in all DOF. The relevant reference model converts all measured torques into their equivalent forces at the end-effector and reacts accordingly. The suggested control scheme takes in particular account of the multi-variable aspect and the problem of body own torques when measuring external torques. The redundant DOF were used to control the robot motion in a human-like pattern via effort minimization. Associated actuator saturation issues were addressed by incorporating a novel anti-windup (AW) compensator.

 

 

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