Dynamic capture of free-moving objects

    Authors

    A. Nagendran; W. Crowther;R. C. Richardson

    Comments

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    Abbreviated Journal Title

    Proc. Inst. Mech. Eng. Part I-J Syst Control Eng.

    Keywords

    dynamics; robot arm; impedance control; self-tuning control; identification; FLEXIBLE ROBOTIC ARM; MANIPULATOR; IMPACT; Automation & Control Systems

    Abstract

    A new stiffness control method is proposed for robotic systems to capture free-moving objects with minimum jerk. A bell-shaped stiffness curve is shown to minimize the jerk that occurs during capture tasks. The results verify that the method can be used to successfully decelerate objects over a predefined distance, while keeping the jerk experienced during the capture within limits. Shortcomings with the method are identified from the results, and an adaptive control scheme is proposed. An adaptive controller is designed to actively interact with the object to estimate the kinetic energy during the capture and scale the amount of force being applied accordingly. Simulation results confirm that the adaptive control scheme overcomes the shortcomings in previous methods.

    Journal Title

    Proceedings of the Institution of Mechanical Engineers Part I-Journal of Systems and Control Engineering

    Volume

    225

    Issue/Number

    I8

    Publication Date

    1-1-2011

    Document Type

    Article

    Language

    English

    First Page

    1054

    Last Page

    1067

    WOS Identifier

    WOS:000299487300002

    ISSN

    0959-6518

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