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How can the programming of impedance control be simplified?

: Cruz, A.B.; Radke, M.; Haninger, K.; Krüger, J.

Fulltext ()

Procedia CIRP 97 (2021), pp.266-271
ISSN: 2212-8271
Conference of Assembly Technology and Systems (CATS) <8, 2020, Online>
Journal Article, Electronic Publication
Fraunhofer IPK ()

Impedance control uses force/torque measurements to adapt a robot's motion, broadening a robot's capabilities in contact tasks. However, potential benefits of impedance control are largely not realized in industry, partly due to complexity: it requires a large number of parameters (compliance frame, impedance parameters, reference position/force) and expertise to set these parameters for a specific application. Pre-defined action templates can be used to hide and preset parameters as required for a specific action, potentially reducing the expertise and time required for an integration. However, objectives and methods to design such primitives are not well-established. This paper considers application requirements common in impedance control, and how actions can be designed to support such requirements. Parameter sensitivity and independence are considered, supported experimentally with a 'hole-in-peg' assembly task, where the impact of compliance frame and environmental uncertainty are analyzed.