Null space based robot compliant control with prescribed motion performance

Yiming  Jiang; Chenguang Yang; Zhaojie Ju

doi:10.1109/ICIST.2018.8426069

Null space based robot compliant control with prescribed motion performance

Yiming Jiang, Chenguang Yang, Zhaojie Ju

School of Computing

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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Abstract

In this paper, a null space controller is proposed to achieve a compliant motion behaviour of a redundant manipulator for a safety human-robot interaction. The robot end-effector is controlled using a prescribed performance controller, such that the transient tracking performance of the main task is guaranteed. The compliant behaviour of the robot motion is ensured by using a null space control law, by which the external torque acting on the main task can be projected to a null space and the effects of the external force can be reduced. The external torque is estimated and canceled by using an adaptive disturbance observer. Lyapunov synthesis illustrates the asymptotic stability of the robot system while simulation studies based on a 3-DOF planner robot show the effectiveness of the proposed control algorithm.

Original language	English
Title of host publication	2018 Eight International Conference on Information Science and Technology
Subtitle of host publication	ICIST
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	294-300
ISBN (Electronic)	978-1-5386-3782-1
ISBN (Print)	978-1-5386-3783-8
DOIs	https://doi.org/10.1109/ICIST.2018.8426069
Publication status	Published - 9 Aug 2018
Event	2018 Eighth International Conference on Information Science and Technology - Cordoba, Spain Duration: 30 Jun 2018 → 6 Jul 2018

Publication series

Name	IEEE ICIST Proceedings Series
ISSN (Electronic)	2573-3311

Conference

Conference	2018 Eighth International Conference on Information Science and Technology
Country/Territory	Spain
Period	30/06/18 → 6/07/18

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10.1109/ICIST.2018.8426069

Null space based robot compliant control with prescribed motion performance
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Accepted author manuscript (Post-print), 1.5 MB

Cite this

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title = "Null space based robot compliant control with prescribed motion performance",

abstract = "In this paper, a null space controller is proposed to achieve a compliant motion behaviour of a redundant manipulator for a safety human-robot interaction. The robot end-effector is controlled using a prescribed performance controller, such that the transient tracking performance of the main task is guaranteed. The compliant behaviour of the robot motion is ensured by using a null space control law, by which the external torque acting on the main task can be projected to a null space and the effects of the external force can be reduced. The external torque is estimated and canceled by using an adaptive disturbance observer. Lyapunov synthesis illustrates the asymptotic stability of the robot system while simulation studies based on a 3-DOF planner robot show the effectiveness of the proposed control algorithm.",

author = "Yiming Jiang and Chenguang Yang and Zhaojie Ju",

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language = "English",

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publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "294--300",

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}

Jiang, Y, Yang, C & Ju, Z 2018, Null space based robot compliant control with prescribed motion performance. in 2018 Eight International Conference on Information Science and Technology : ICIST. IEEE ICIST Proceedings Series, Institute of Electrical and Electronics Engineers Inc., pp. 294-300, 2018 Eighth International Conference on Information Science and Technology, Spain, 30/06/18. https://doi.org/10.1109/ICIST.2018.8426069

Null space based robot compliant control with prescribed motion performance. / Jiang, Yiming ; Yang, Chenguang; Ju, Zhaojie.
2018 Eight International Conference on Information Science and Technology : ICIST. Institute of Electrical and Electronics Engineers Inc., 2018. p. 294-300 (IEEE ICIST Proceedings Series).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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N2 - In this paper, a null space controller is proposed to achieve a compliant motion behaviour of a redundant manipulator for a safety human-robot interaction. The robot end-effector is controlled using a prescribed performance controller, such that the transient tracking performance of the main task is guaranteed. The compliant behaviour of the robot motion is ensured by using a null space control law, by which the external torque acting on the main task can be projected to a null space and the effects of the external force can be reduced. The external torque is estimated and canceled by using an adaptive disturbance observer. Lyapunov synthesis illustrates the asymptotic stability of the robot system while simulation studies based on a 3-DOF planner robot show the effectiveness of the proposed control algorithm.

AB - In this paper, a null space controller is proposed to achieve a compliant motion behaviour of a redundant manipulator for a safety human-robot interaction. The robot end-effector is controlled using a prescribed performance controller, such that the transient tracking performance of the main task is guaranteed. The compliant behaviour of the robot motion is ensured by using a null space control law, by which the external torque acting on the main task can be projected to a null space and the effects of the external force can be reduced. The external torque is estimated and canceled by using an adaptive disturbance observer. Lyapunov synthesis illustrates the asymptotic stability of the robot system while simulation studies based on a 3-DOF planner robot show the effectiveness of the proposed control algorithm.

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PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 Eighth International Conference on Information Science and Technology

Y2 - 30 June 2018 through 6 July 2018

ER -

Null space based robot compliant control with prescribed motion performance

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