Browse > Article

Controller Design for a Robot's Safe Contact on an Object  

Shin Wan-Jae (현대자동차)
Park Jahng-Hyon (한양대학교 기계공학부)
Publication Information
Journal of the Korean Society for Precision Engineering / v.23, no.4, 2006 , pp. 83-90 More about this Journal
Abstract
A robot manipulator is usually operated in two modes: free and constrained motion modes, depending on whether the robot is in contact with an environment or not. At the moment of contact, an impact occurs and can exert harmful effects to the robot or the object. In case of teleoperation, since a user may give an inadequately excessive velocity command to the slave due to insufficient visual information, the robot nay collide the object with an excessive speed and it possibly deteriorates the robot's performance causing vibrations and at worst, shortens its lifetime by its fracture. In this article, a new algorithm is proposed by introducing a command signal modification method on the basis of impedance control and validity of the proposed algorithm is demonstrated by performing simulations and experiments.
Keywords
Impact; Collision; Impedance control; Signal Modification; Teleoperation;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 Shin, W., Park, Jahng-H., 'Internet Teleoperation of an Embedded System using Streaming Buffer System,' Journal of the KSPE, Vol. 21, No.9, pp. 56-62, Sept., 2004
2 Laurin-Kovitz, K. F., Colgate, J. E., Carnes, S. D. R., 'Design of components for programmable passive impedance,' Proc. of the IEEE lnt. Conf. on Robotics and Automations, pp.1476-1481, 1991   DOI
3 Park, Jahng-H., Shin, W., 'Internet Teleoperation of a Robot with Streaming Buffer System under Varying Time Delays,' JSME International Journal Series C, Vol.46, No.4, pp. 1604-1610, Dec., 2003   DOI   ScienceOn
4 Dubey, R. V., Chan, T. F., Everett, S. E., 'Variable Damping Impedance Control of a Bilateral Telerobotic System,' IEEE Control Systems Magazine, Vol. 17, No. 1, pp.37-45, 1997   DOI   ScienceOn
5 Bedford, A., Fowler, W., 'Engineering Mechanics Dynamics,' Prentice Hall, pp.419-423, 2002
6 Shin, W., Park, Jahng-H., 'Controller Design for a Robot's Safe Contact on an Object,' Proceedings of the KSPE Conference, pp. 929-933, Oct., 2004
7 Colgate, J.E., 'Robust Impedance Shaping Telernanipulation,' IEEE Transactions on Robotics and Automation, Vol. 9, No.4, pp. 374-384, Aug., 1993   DOI   ScienceOn
8 Zheng, Y. F., Hemani, H., 'Mathematical Modeling of a Robot collision with Its Environment,' Journal of Robotic Systems, Vol.2, pp.289-307, 1985   DOI   ScienceOn
9 Asada, H., Slotine, J. J., 'Robot Analysis and Control,' John Wiley & Sons, Inc., pp. 108-110, 1986
10 Park, Jong H., Song, J. H., Cho, H. C., 'Impedance Modulation for a Teleoperator Using Distance Measurement,' Proc. of International Conf. on Control Automation, Robotics and Vision(ICARCV), 2000   과학기술학회마을
11 Salcudean, S. E., Hashtrudi-Zaad, K., 'Bilateral Matched-Impedance Teleoperation with Application to Excavator Control,' IEEE Control Systems Magazine, Vol. 19, No.6, pp. 29-37, 1999   DOI   ScienceOn
12 Luh, J. Y. S., 'A Scheme for Collision Avoidance with Minimum Distance Traveling for Industrial Robots,' Journal of Robotic System, Vol. 1, No.1, pp.5-26, 1984
13 Lee, E., Park, J., Loparo, K. A., 'Bang-Bang Impact Control Using Hybrid Impedance/Time-Delay Control,' IEEE/ASME Transactions on Mechatronics, Vol. 8, No.2, pp. 272-277, 2003   DOI   ScienceOn
14 Kim, Jinhyun, Chung, Wan Kyun, Youm, Youngil, 'Impact Reduction for Unknown Environment Using Kinematic Reduncdancy,' Proc. Of Korea Automatic Control Conference, pp. E25-E28, 1999
15 Lee, E., Park, J., Chang, P. H., Schrader, C. B., 'Hybrid Impedance/Time-Delay Control from Free Space to Constrained Motion,' Proc. of the American Control Conference, pp. 2132-2137, 2003   DOI