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Compensating human feedback oscillation in compliance control for industrial robots

: Nikoleizig, S.; Vick, A.; Krüger, J.


Liao, W.-H. ; Institute of Electrical and Electronics Engineers -IEEE-:
3rd International Conference on Control, Automation and Robotics, ICCAR 2017 : 22 Apr.-24 Apr., 2017, Nagoya, Japan
Piscataway, NJ: IEEE, 2017
ISBN: 978-1-5090-6088-7
ISBN: 978-1-5090-6087-0
ISBN: 978-1-5090-6086-3
ISBN: 978-1-5090-6089-4
International Conference on Control, Automation and Robotics (ICCAR) <3, 2017, Nagoya>
Conference Paper
Fraunhofer IPK ()

To achieve an exact motion that is following a reference position in a force controlled process, it is necessary to reduce the influence of disturbances in the force signal as much as possible. In this paper an adaptive compliance controller for use with a direct physical human-robot interaction is introduced. The task of this controller is to stabilize the motion guidance of a manual force guided robot control and to ensure at the same time a fast and stable behavior. One problem is the force signal as a sole reference input of the process. In addition the human robot interaction can lead to feedback oscillation, which has to be damped, so it does not endanger persons or equipment. With an adjustment of parameters, it is possible to apply the regulation method for other articulated robot models and thus to increase its robustness. The experiments show a path stabilization of the robot on oscillation loaded guidance. At the same time the regulation does not intervene on free space guidance without disturbances. Thus a high velocity on the Tool Center Point can be used in comparison to other approaches relying on high damping only.