Null space based robot compliant control with prescribed motion performance

Yiming Jiang, Chenguang Yang, Zhaojie Ju

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publication2018 Eight International Conference on Information Science and Technology
Subtitle of host publicationICIST
PublisherIEEE
Pages294-300
ISBN (Electronic)978-1-5386-3782-1
ISBN (Print)978-1-5386-3783-8
DOIs
Publication statusPublished - 9 Aug 2018
Event2018 Eighth International Conference on Information Science and Technology - Cordoba, Spain
Duration: 30 Jun 20186 Jul 2018

Publication series

NameIEEE ICIST Proceedings Series
ISSN (Electronic)2573-3311

Conference

Conference2018 Eighth International Conference on Information Science and Technology
Country/TerritorySpain
Period30/06/186/07/18

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