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Multi-hierarchy interaction control of a redundant robot using impedance learning

Jiang, Yiming; Yang, Chenguang; Wang, Yaonan; Ju, Zhaojie; Li, Yanan; Su, Chun-Yi

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Authors

Yiming Jiang

Yaonan Wang

Zhaojie Ju

Yanan Li

Chun-Yi Su



Abstract

The control of robots with a compliant joint motion is important for reducing collision forces and improving safety during human robot interactions. In this paper, a multi-hierarchy control framework is proposed for the redundant robot to enable the robot end-effector to physically interact with the unknown environment, while providing compliance to the joint space motion. To this end, an impedance learning method is designed to iteratively update the stiffness and damping parameters of the end-effector with desired performance. In addition, based on a null space projection technique, an extra low stiffness impedance controller is included to improve compliant joint motion behaviour when interaction forces are acted on the robot body. With an adaptive disturbance observer, the proposed controller can achieve satisfactory performance of the end-effector control even with the external disturbances in the joint space. Experimental studies on a 7 DOF Sawyer robot show that the learning framework can not only update the target impedance model according to a given cost function, but also enhance the task performance when interaction forces are applied on the robot body.

Citation

Jiang, Y., Yang, C., Wang, Y., Ju, Z., Li, Y., & Su, C. (2020). Multi-hierarchy interaction control of a redundant robot using impedance learning. Mechatronics, 67, https://doi.org/10.1016/j.mechatronics.2020.102348

Journal Article Type Article
Acceptance Date Mar 7, 2020
Online Publication Date Apr 27, 2020
Publication Date May 1, 2020
Deposit Date Apr 28, 2020
Publicly Available Date Apr 28, 2021
Journal Mechatronics
Print ISSN 0957-4158
Publisher Elsevier
Peer Reviewed Peer Reviewed
Volume 67
Article Number 102348
DOI https://doi.org/10.1016/j.mechatronics.2020.102348
Keywords Mechanical Engineering; Electrical and Electronic Engineering; Computer Science Applications
Public URL https://uwe-repository.worktribe.com/output/5940505
Additional Information This article is maintained by: Elsevier; Article Title: Multi-hierarchy interaction control of a redundant robot using impedance learning; Journal Title: Mechatronics; CrossRef DOI link to publisher maintained version: https://doi.org/10.1016/j.mechatronics.2020.102348; Content Type: article; Copyright: © 2020 Elsevier Ltd. All rights reserved.

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