Impedance control of a robotic gripper for cooperation with humans

The control system of a robotic dextrous gripper for cooperation with humans should be based on the human control system so that the robot is “human friendly”. In this paper three different impedance control systems for a robotic gripper are evaluated, and the control system which can most effective...

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Bibliographic Details
Published in:Control engineering practice 2002-04, Vol.10 (4), p.379-389
Main Authors: Dutta, Ashish, Obinata, Goro
Format: Article
Language:English
Subjects:
Dextrous gripper
Human characteristics
Impedance control
Shear force
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Summary:The control system of a robotic dextrous gripper for cooperation with humans should be based on the human control system so that the robot is “human friendly”. In this paper three different impedance control systems for a robotic gripper are evaluated, and the control system which can most effectively represent human characteristics identified. First a task performed by two humans was analyzed and various impedance parameters based on it identified. Three different types of impedance model based controllers were designed for the gripper. A robot–human cooperation task was then simulated to compare the effectiveness of the three control methods. It is concluded that the control method in which the impedance parameters are varied actively with the velocity of motion gives the best performance for a robot–human cooperation task. Finally a robot–human cooperation experiment was performed to demonstrate the practical application of the proposed control method.
ISSN:0967-0661
1873-6939
DOI:10.1016/S0967-0661(01)00152-6