Robot-Environment Interaction Control of a Flexible Joint Light Weight Robot Manipulator | Zendy

Genliang Xiong | Zendy; Haichu Chen | Zendy; Ruihua Zhang | Zendy; Fayun Liang | Zendy

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Robot-Environment Interaction Control of a Flexible Joint Light Weight Robot Manipulator

Author(s) -

Genliang Xiong,

Haichu Chen,

Ruihua Zhang,

Fayun Liang

Publication year - 2012

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/51308

Subject(s) - impedance control , computer science , robot , torque , cartesian coordinate system , control theory (sociology) , motion planning , path (computing) , control (management) , simulation , control engineering , artificial intelligence , engineering , mathematics , physics , geometry , thermodynamics , programming language

This paper presents a weighted path planning approach for a light weight robot coming into compliant contact with the environment, as well as robot-environment interaction enabled impedance control. Using a joint torque sensor, Cartesian impedance control is introduced to realize the manipulator compliance control. Then the weighted path planning approach is developed to detect the contact condition and to control the interaction. Experiments are carried out on a 5-DOF light weight manipulator. The experimental results validate the developed control approach enhanced by the weighted path planning scheme

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