Details
| Originalsprache | Englisch |
|---|---|
| Seiten (von - bis) | 276-283 |
| Seitenumfang | 8 |
| Fachzeitschrift | IFAC-PapersOnLine |
| Jahrgang | 56 |
| Ausgabenummer | 2 |
| Frühes Online-Datum | 22 Nov. 2023 |
| Publikationsstatus | Veröffentlicht - 2023 |
| Veranstaltung | 22nd IFAC World Congress - Yokohama, Japan Dauer: 9 Juli 2023 → 14 Juli 2023 |
Abstract
After its introduction, impedance control has been utilized as a primary control scheme for robotic manipulation tasks that involve interaction with unknown environments. While impedance control has been extensively studied, the geometric structure of SE(3) for the robotic manipulator itself and its use in formulating a robotic task has not been adequately addressed. In this paper, we propose a differential geometric approach to impedance control. Given a left-invariant error metric in SE(3), the corresponding error vectors in position and velocity are first derived. We then propose the impedance control schemes that adequately account for the geometric structure of the manipulator in SE(3) based on a left-invariant potential function. The closed-loop stabilities for the proposed control schemes are verified using Lyapunov function-based analysis. The proposed control design clearly outperformed a conventional impedance control approach when tracking challenging trajectory profiles.
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in: IFAC-PapersOnLine, Jahrgang 56, Nr. 2, 2023, S. 276-283.
Publikation: Beitrag in Fachzeitschrift › Konferenzaufsatz in Fachzeitschrift › Forschung › Peer-Review
}
TY - JOUR
T1 - Geometric Impedance Control on SE(3) for Robotic Manipulators
AU - Seo, Joohwan
AU - Prakash, Nikhil Potu Surya
AU - Choi, Jongeun
AU - Horowitz, Roberto
AU - Rose , Alexander
PY - 2023
Y1 - 2023
N2 - After its introduction, impedance control has been utilized as a primary control scheme for robotic manipulation tasks that involve interaction with unknown environments. While impedance control has been extensively studied, the geometric structure of SE(3) for the robotic manipulator itself and its use in formulating a robotic task has not been adequately addressed. In this paper, we propose a differential geometric approach to impedance control. Given a left-invariant error metric in SE(3), the corresponding error vectors in position and velocity are first derived. We then propose the impedance control schemes that adequately account for the geometric structure of the manipulator in SE(3) based on a left-invariant potential function. The closed-loop stabilities for the proposed control schemes are verified using Lyapunov function-based analysis. The proposed control design clearly outperformed a conventional impedance control approach when tracking challenging trajectory profiles.
AB - After its introduction, impedance control has been utilized as a primary control scheme for robotic manipulation tasks that involve interaction with unknown environments. While impedance control has been extensively studied, the geometric structure of SE(3) for the robotic manipulator itself and its use in formulating a robotic task has not been adequately addressed. In this paper, we propose a differential geometric approach to impedance control. Given a left-invariant error metric in SE(3), the corresponding error vectors in position and velocity are first derived. We then propose the impedance control schemes that adequately account for the geometric structure of the manipulator in SE(3) based on a left-invariant potential function. The closed-loop stabilities for the proposed control schemes are verified using Lyapunov function-based analysis. The proposed control design clearly outperformed a conventional impedance control approach when tracking challenging trajectory profiles.
KW - Asymptotic Stabilization
KW - Autonomous Robotic Systems
KW - Geometric Control
KW - Impedance Control
KW - Intelligent Robotics
KW - Robotic Manipulators
KW - Tracking
UR - http://www.scopus.com/inward/record.url?scp=85179874936&partnerID=8YFLogxK
U2 - 10.48550/arXiv.2211.07945
DO - 10.48550/arXiv.2211.07945
M3 - Conference article
AN - SCOPUS:85179874936
VL - 56
SP - 276
EP - 283
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
IS - 2
T2 - 22nd IFAC World Congress
Y2 - 9 July 2023 through 14 July 2023
ER -