Details
| Original language | English |
|---|---|
| Title of host publication | 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE) |
| Pages | 830-835 |
| Number of pages | 6 |
| ISBN (electronic) | 978-1-7281-0356-3 |
| Publication status | Published - 2019 |
| Externally published | Yes |
| Event | 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE) - Vancouver, Canada Duration: 22 Aug 2019 → 26 Aug 2019 |
Publication series
| Name | IEEE International Conference on Automation Science and Engineering |
|---|---|
| Volume | 2019-August |
| ISSN (Print) | 2161-8070 |
| ISSN (electronic) | 2161-8089 |
Abstract
In industrial robotics, controller parameters for force control must be adjusted to the specific robot that performs a task and they must be re-adjusted when the same task is to be performed by another robot. We address this challenge by proposing a transferable force controller for contact establishment between robot and surface. The controller is implemented based on task frame formalism. The proposed controller is based on prescribed performance control (PPC) and does not rely on a dynamic model of the environment. Due to the inherent robustness of PPC, it can be used to ensure similar performance for the same task across different robots and environments. The proposed controller is validated experimentally in a simple contact establishment task performed by three different robots (Universal Robots UR5, Franka Emika Panda, Denso Wave VS087) and three different board materials providing different stiffness (steel, aluminum, PVC). The PPC is found to yield an up to two orders of magnitude smaller variance of closed-loop settling time across all robots and materials than a conventional impedance controller.
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2019 IEEE 15th International Conference on Automation Science and Engineering (CASE). 2019. p. 830-835 8843020 (IEEE International Conference on Automation Science and Engineering; Vol. 2019-August).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - A transferable force controller based on prescribed performance for contact establishment in robotic assembly tasks
AU - Halt, Lorenz
AU - Pan, Fengjunjie
AU - Tenbrock, Philipp
AU - Pott, Andreas
AU - Seel, Thomas
N1 - Funding Information: This work has received funding from the European Union's Horizon 2020 Research and Innovation Programme under grant agreement n 688642 (RAMPup).
PY - 2019
Y1 - 2019
N2 - In industrial robotics, controller parameters for force control must be adjusted to the specific robot that performs a task and they must be re-adjusted when the same task is to be performed by another robot. We address this challenge by proposing a transferable force controller for contact establishment between robot and surface. The controller is implemented based on task frame formalism. The proposed controller is based on prescribed performance control (PPC) and does not rely on a dynamic model of the environment. Due to the inherent robustness of PPC, it can be used to ensure similar performance for the same task across different robots and environments. The proposed controller is validated experimentally in a simple contact establishment task performed by three different robots (Universal Robots UR5, Franka Emika Panda, Denso Wave VS087) and three different board materials providing different stiffness (steel, aluminum, PVC). The PPC is found to yield an up to two orders of magnitude smaller variance of closed-loop settling time across all robots and materials than a conventional impedance controller.
AB - In industrial robotics, controller parameters for force control must be adjusted to the specific robot that performs a task and they must be re-adjusted when the same task is to be performed by another robot. We address this challenge by proposing a transferable force controller for contact establishment between robot and surface. The controller is implemented based on task frame formalism. The proposed controller is based on prescribed performance control (PPC) and does not rely on a dynamic model of the environment. Due to the inherent robustness of PPC, it can be used to ensure similar performance for the same task across different robots and environments. The proposed controller is validated experimentally in a simple contact establishment task performed by three different robots (Universal Robots UR5, Franka Emika Panda, Denso Wave VS087) and three different board materials providing different stiffness (steel, aluminum, PVC). The PPC is found to yield an up to two orders of magnitude smaller variance of closed-loop settling time across all robots and materials than a conventional impedance controller.
UR - http://www.scopus.com/inward/record.url?scp=85072992163&partnerID=8YFLogxK
U2 - 10.1109/COASE.2019.8843020
DO - 10.1109/COASE.2019.8843020
M3 - Conference contribution
SN - 978-1-7281-0357-0
T3 - IEEE International Conference on Automation Science and Engineering
SP - 830
EP - 835
BT - 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)
T2 - 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)
Y2 - 22 August 2019 through 26 August 2019
ER -