An Experimental Study on Cartesian Impedance Control for a Joint Torque-Based Manipulator

The purpose of this paper is to present our results on experimental investigations on Cartesian impedance control and nonlinearity compensation for our harmonic drive robot based on joint torque sensors. The imperfection of the cubic model for harmonic drive friction is detected according to frictio...

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Bibliographic Details
Published in:	Advanced robotics Vol. 22; no. 11; pp. 1155 - 1180
Main Authors:	Liu, Hong, Liu, Ye-chao, Jin, Minghe, Sun, K., Huang, J. B.
Format:	Journal Article
Language:	English
Published:	Taylor & Francis Group 01-01-2008
Subjects:	FORCE-BASED IMPEDANCE CONTROL FRICTION IDENTIFICATION HARMONIC DRIVE TRANSMISSION JOINT TORQUE POSITION-BASED IMPEDANCE CONTROL
Online Access:	Get full text
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Summary:	The purpose of this paper is to present our results on experimental investigations on Cartesian impedance control and nonlinearity compensation for our harmonic drive robot based on joint torque sensors. The imperfection of the cubic model for harmonic drive friction is detected according to friction identification experiments. In addition, five different Cartesian impedance control schemes are considered and four of them are tested by corresponding experiments with/without friction compensation. Experimental results tell us that the force-based impedance control strategy is more suitable than the position-based strategy for the harmonic drive robot based on joint torque feedback.
Bibliography:	ObjectType-Article-2 SourceType-Scholarly Journals-1 ObjectType-Feature-1 content type line 23
ISSN:	0169-1864 1568-5535
DOI:	10.1163/156855308X338410