An Optimization-Based Impedance Approach for Robot Force Regulation with Prescribed Force Limits

Author:

Portillo-Vélez R. de J.1,Rodriguez-Angeles A.2,Cruz-Villar C. A.2

Affiliation:

1. Facultad de Ingeniería, Universidad Veracruzana, Boulevard Adolfo Ruiz Cortines S/N, Costa Verde, 94294 Boca del Río, VER, Mexico

2. Centro de Investigación y de Estudios Avanzados del IPN, Unidad Zacatenco, Departamento de Ingeniería Eléctrica, Sección de Mecatrónica, Avenida Instituto Politécnico Nacional No. 2508, 07360 San Pedro Zacatenco, México, DF, Mexico

Abstract

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.

Funder

Consejo Nacional de Ciencia y Tecnología

Publisher

Hindawi Limited

Subject

General Engineering,General Mathematics

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