An Optimization-Based Impedance Approach for Robot Force Regulation with Prescribed Force Limits
Joint Authors
Rodriguez-Angeles, A.
Cruz-Villar, Carlos A.
Portillo-Vélez, R. de J.
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-05-19
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
An optimization based approach for the regulation of excessive or insufficient forces at the end-effector level is introduced.
The objective is to minimize the interaction force error at the robot end effector, while constraining undesired interaction forces.
To that end, a dynamic optimization problem (DOP) is formulated considering a dynamic robot impedance model.
Penalty functions are considered in the DOP to handle the constraints on the interaction force.
The optimization problem is online solved through the gradient flow approach.
Convergence properties are presented and the stability is drawn when the force limits are considered in the analysis.
The effectiveness of our proposal is validated via experimental results for a robotic grasping task.
American Psychological Association (APA)
Portillo-Vélez, R. de J.& Rodriguez-Angeles, A.& Cruz-Villar, Carlos A.. 2015. An Optimization-Based Impedance Approach for Robot Force Regulation with Prescribed Force Limits. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-13.
https://search.emarefa.net/detail/BIM-1075055
Modern Language Association (MLA)
Portillo-Vélez, R. de J.…[et al.]. An Optimization-Based Impedance Approach for Robot Force Regulation with Prescribed Force Limits. Mathematical Problems in Engineering No. 2015 (2015), pp.1-13.
https://search.emarefa.net/detail/BIM-1075055
American Medical Association (AMA)
Portillo-Vélez, R. de J.& Rodriguez-Angeles, A.& Cruz-Villar, Carlos A.. An Optimization-Based Impedance Approach for Robot Force Regulation with Prescribed Force Limits. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-13.
https://search.emarefa.net/detail/BIM-1075055
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1075055