Impedance controllers for electri - driven robots

• Autorzy: Jezierski E. , Gmerek A.
• Konferencja: National Conference on Robotics (12, 12-16.2012, Świeradów-Zdrój, Poland)
• Języki publikacji: EN

Abstrakty

EN

This article presents a proposal of impedance controller, which is able to infulence the compliance of a robot, based on information obtained from a lowlevel controller about robot interaction with the environment. The proposed system consists of a lowlevel controller with proximity sensor, based on which mechanical impedance is adjusted. The intention of the creators was to develop a universal impedance regulator in the sense of hardware and software layers. Because of TCP/IP architecture, the designed regulator can be easily adapted to different robot controllers. Experiments were conducted on a real 1-DOF manipulator driven by BLDC motor, as well as using simulation on a 2DOF planar robot.

Słowa kluczowe

EN

impedance controller; admittance controller; 2DOF manipulator; BLDC drive

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2013
• Tom: Vol. 7, No. 4
• Strony: 13--20
• Opis fizyczny: Bibliogr. 11 poz., rys.

Twórcy

autor

Jezierski E.

• Institute of Automatic Control, Lodz University of Technology

autor

Gmerek A.

• Institute of Automatic Control, Lodz University of Technology

Bibliografia

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• [11] Jezierski E., Gmerek A., ”Admittance control of a 1-DoF robotic arm actuated by BLDC motor”. In: 17th International Conference on Methods and Models in Automation and Robotics (MMAR), 2012, 633–638.