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http://dx.doi.org/10.14372/IEMEK.2019.14.5.259

Variable Impedance Control for Industrial Manipulators Based on Sensor-Less External Force Estimator for CPPS  

Park, Jongcheon (Kyungpook National University)
Han, Seungyong (Kyungpook National University)
Jin, Yongsik (Kyungpook National University)
Lee, Sangmoon (Kyungpook National University)
Publication Information
IEMEK Journal of Embedded Systems and Applications / v.14, no.5, 2019 , pp. 259-267 More about this Journal
Abstract
This paper proposes a structure of a variable impedance control system based on sensor-less external force estimator of industrial manipulators for cyber physical production systems (CPPS). To implement CPPS, a feedback system is constructed by using the robot operating system (ROS) and an external force estimator which is designed to measure the external force applied to the manipulator without a force sensor. Based on the robot dynamics, the robot-human cooperating system for the cyber physics production system is implemented through a controller that changes the impedance characteristics of the manipulator according to the situation using the external force estimator. Simulation and experimental results verify the effectiveness of the proposed control system.
Keywords
Cyber physical production systems (CPPS); Manipulator; External force estimator; Impedance control; Robot-human cooperating systems;
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