Identification of Compliant Contact Parameters and Admittance Force Modulation on a Non-stationary Compliant Surface

Autor:	Wijayarathne, Lasitha, Hammond III, Frank L.
Rok vydání:	2020
Předmět:	Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	Although autonomous control of robotic manipulators has been studied for several decades, they are not commonly used in safety-critical applications due to lack of safety and performance guarantees - many of them concerning the modulation of interaction forces. This paper presents a mechanical probing strategy for estimating the environmental impedance parameters of compliant environments, independent a manipulator's controller design, and configuration. The parameter estimates are used in a position-based adaptive force controller to enable control of interaction forces in compliant, stationary, and non-stationary environments. This approach is targeted for applications where the workspace is constrained and non-stationary, and where force control is critical to task success. These applications include surgical tasks involving manipulation of compliant, delicate, moving tissues. Results show fast parameter estimation and successful force modulation that compensates for motion. Comment: Accepted for publication ay ICRA 2020
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2004.09729 Zobrazit plný text záznamu View this record from Arxiv