Adaptive control of a robotic manipulator for soft catching of a falling object

This paper presents a controller design of a robotic manipulator for soft catching of a falling object. If a robotic system is able to catch a falling object softly, there will be many applications expected in human activities such as industry, welfare, nursing, housework and office work, because th...

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Autores principales:	Naoki UCHIYAMA, Shigenori SANO, Kazuaki RYUMAN
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2015
Materias:	robotic manipulator catching adaptive control tracking control impedance control Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/d30366a84f0a4bf4b7079b4676f9bc24
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spelling	oai:doaj.org-article:d30366a84f0a4bf4b7079b4676f9bc242021-11-26T06:25:43ZAdaptive control of a robotic manipulator for soft catching of a falling object2187-974510.1299/mej.14-00074https://doaj.org/article/d30366a84f0a4bf4b7079b4676f9bc242015-05-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/2/3/2_14-00074/_pdf/-char/enhttps://doaj.org/toc/2187-9745This paper presents a controller design of a robotic manipulator for soft catching of a falling object. If a robotic system is able to catch a falling object softly, there will be many applications expected in human activities such as industry, welfare, nursing, housework and office work, because this ability allows a human operator or another robot system to move an object to the catching robot without any transportation systems such as an conveyor or a mobile structure. First, this paper considers a nonlinear decoupling control of a robotic manipulator. Next, a controller design is presented for catching a falling object with a small impact force. This controller consists of two parts: a position tracking controller that tracks a desired trajectory before contact between the object and the robot end-effector, and a force controller that is triggered after the contact. We employ a position-based impedance controller so that the entire control system can be constructed as a position-based controller. In order to achieve the soft catching, precise motion control is required to achieve the same velocity of the robot end-effector with a falling object when they are in contact. Hence, we employ an adaptive controller that consists of a feedback controller to compensate for disturbance such as friction and a feed forward controller to improve the tracking performance to the desired trajectory by adjusting controller parameters in real time. Experimental results with a falling raw egg demonstrate the effectiveness of the proposed approach.Naoki UCHIYAMAShigenori SANOKazuaki RYUMANThe Japan Society of Mechanical Engineersarticlerobotic manipulatorcatchingadaptive controltracking controlimpedance controlMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 2, Iss 3, Pp 14-00074-14-00074 (2015)
institution	DOAJ
collection	DOAJ
language	EN
topic	robotic manipulator catching adaptive control tracking control impedance control Mechanical engineering and machinery TJ1-1570
spellingShingle	robotic manipulator catching adaptive control tracking control impedance control Mechanical engineering and machinery TJ1-1570 Naoki UCHIYAMA Shigenori SANO Kazuaki RYUMAN Adaptive control of a robotic manipulator for soft catching of a falling object
description	This paper presents a controller design of a robotic manipulator for soft catching of a falling object. If a robotic system is able to catch a falling object softly, there will be many applications expected in human activities such as industry, welfare, nursing, housework and office work, because this ability allows a human operator or another robot system to move an object to the catching robot without any transportation systems such as an conveyor or a mobile structure. First, this paper considers a nonlinear decoupling control of a robotic manipulator. Next, a controller design is presented for catching a falling object with a small impact force. This controller consists of two parts: a position tracking controller that tracks a desired trajectory before contact between the object and the robot end-effector, and a force controller that is triggered after the contact. We employ a position-based impedance controller so that the entire control system can be constructed as a position-based controller. In order to achieve the soft catching, precise motion control is required to achieve the same velocity of the robot end-effector with a falling object when they are in contact. Hence, we employ an adaptive controller that consists of a feedback controller to compensate for disturbance such as friction and a feed forward controller to improve the tracking performance to the desired trajectory by adjusting controller parameters in real time. Experimental results with a falling raw egg demonstrate the effectiveness of the proposed approach.
format	article
author	Naoki UCHIYAMA Shigenori SANO Kazuaki RYUMAN
author_facet	Naoki UCHIYAMA Shigenori SANO Kazuaki RYUMAN
author_sort	Naoki UCHIYAMA
title	Adaptive control of a robotic manipulator for soft catching of a falling object
title_short	Adaptive control of a robotic manipulator for soft catching of a falling object
title_full	Adaptive control of a robotic manipulator for soft catching of a falling object
title_fullStr	Adaptive control of a robotic manipulator for soft catching of a falling object
title_full_unstemmed	Adaptive control of a robotic manipulator for soft catching of a falling object
title_sort	adaptive control of a robotic manipulator for soft catching of a falling object
publisher	The Japan Society of Mechanical Engineers
publishDate	2015
url	https://doaj.org/article/d30366a84f0a4bf4b7079b4676f9bc24
work_keys_str_mv	AT naokiuchiyama adaptivecontrolofaroboticmanipulatorforsoftcatchingofafallingobject AT shigenorisano adaptivecontrolofaroboticmanipulatorforsoftcatchingofafallingobject AT kazuakiryuman adaptivecontrolofaroboticmanipulatorforsoftcatchingofafallingobject
_version_	1718409809649205248

Adaptive control of a robotic manipulator for soft catching of a falling object

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