Dynamics and Robust Control of Robot-environment Interaction (New Frontiers in Robotics)

Contents......Page 15
Preface......Page 6
1.2 Contact Tasks......Page 20
1.3 Classification of Constrained Motion Control Concepts......Page 21
1.4 Model of the Robot Performing Contact Tasks......Page 29
1.5.1 Non-adaptable compliance methods......Page 33
1.5.2 Adaptable compliance methods......Page 34
1.6.1 Impedance control......Page 37
1.6.1.1 Force-based impedance control......Page 41
1.6.1.2 Position-based impedance control......Page 43
1.6.1.3 Other impedance-control approaches......Page 46
1.6.2 Hybrid position/force control......Page 47
1.6.2.1 Explicit force control......Page 49
1.6.2.2 Position-based (implicit) force control......Page 56
1.6.2.3 Other force control approaches......Page 58
1.6.3 Force-impedance control......Page 59
1.6.4 Unified position-force control......Page 62
1.7 Contact Stability and Transition......Page 65
1.8 Compliance Planning......Page 75
1.9 Haptic Systems Control......Page 79
1.10 New Robot Application......Page 83
1.11 Conclusion......Page 84
Bibliography......Page 86
2.1 Introduction......Page 96
2.2 Dynamic Environments......Page 99
2.2.1 Model of a dynamic environment......Page 100
2.2.1.2 Pure dynamic environment......Page 101
2.2.1.3 Linear impedance model......Page 102
2.3 Synthesis of Control Laws for the Robot Interacting with Dynamic Environment......Page 103
2.3.1 Stabilization of motion with the preset quality of transients......Page 105
2.3.2 Stabilization of interaction force with the preset quality of transients......Page 110
2.3.3 Concluding discussion......Page 119
2.4 Analysis of Transient Processes......Page 120
2.4.1 Task setting......Page 121
2.4.2 Motion transient processes......Page 123
2.4.3 Force transient processes......Page 129
2.4.4 Numerical example......Page 138
2.4.5 Effect of sensor errors on the transient processes......Page 140
2.5.1 Introduction......Page 147
2.5.2 Task setting......Page 148
2.5.3 General scheme of robot adaptive control in contact tasks......Page 153
2.5.4 Adaptive stabilization of programmed motions and forces......Page 158
2.6.1 Models of robot and environment dynamics. Task setting......Page 165
2.6.2 Control laws stabilizing the interaction force......Page 168
2.6.3 Example......Page 174
2.6.4 Conclusion......Page 176
2.7.1 Introduction......Page 177
2.7.2 Task setting......Page 178
2.7.3 Relation to previous results......Page 179
2.7.4 Control laws for specified force dynamics......Page 180
2.7.5 Example......Page 185
2.7.6 Conclusion......Page 188
2.8.1 Introduction......Page 189
2.8.2 Revised hybrid control procedure......Page 192
2.8.3 Case study......Page 196
2.9.2 Improved impedance control......Page 201
2.9.3 Case study......Page 205
2.9.4 Concluding remarks......Page 209
2.10.1 Introduction......Page 210
2.10.2 Practical stability of robots interacting with dynamic environment......Page 213
2.10.3 Mathematical model......Page 214
2.10.4 Formulation of the control task......Page 215
2.10.5 Control law......Page 217
2.10.6 Practical stability analysis......Page 218
2.10.7 Example......Page 222
2.10.8 Conclusion......Page 226
2.10.9 Practical stability - A remark......Page 227
Appendix A Proof of Theorem 1......Page 230
Appendix B Proof of Theorem 2......Page 234
Appendix C Proof of Theorem 3......Page 236
Appendix D Proof of Theorem 4......Page 238
Appendix E Proof of Theorem 5......Page 240
Appendix F Proof of Theorem 6......Page 242
Appendix G Proof of Lemma......Page 244
Appendix H Proof of Theorem 7......Page 248
Appendix I Some Basic Relations......Page 251
Appendix J Proof of Theorem 8......Page 256
Appendix K Prior Assertions and Proof of Theorem 10......Page 261
Bibliography......Page 269
3.1 Introduction......Page 274
3.2 Control Objectives......Page 275
3.3 Impedance Control Scheme......Page 280
3.4 Impedance Control Synthesis......Page 285
3.4.1 Effects of impedance control......Page 286
3.4.2 Common impedance control law......Page 287
3.4.3 Interactive system behavior - coupled stability......Page 288
3.4.3.1 Linearized interaction models......Page 289
3.4.3.2 Coupled system stability......Page 291
3.4.3.3 Coupling of passive systems......Page 296
3.4.3.4 Robust coupled system stability......Page 299
3.4.3.5 Coupled system performance......Page 303
3.4.3.6 Performance of the controller Gf = Gt -1......Page 306
3.5 Improved Impedance Control......Page 307
3.5.1 Improved control law......Page 309
3.5.2 Coupled system performance......Page 313
3.5.3 Target impedance model realization......Page 315
3.6 Typical Impedance Contact Behavior......Page 320
3.7 Contact Transition Stability......Page 338
3.7.1 Definition of the contact stability......Page 339
3.8 Contact Stability Conditions......Page 351
3.8.1 Time domain analysis......Page 352
3.8.1.1 Constant velocity phase contact......Page 354
3.8.1.2 Constant acceleration/deceleration phase contact......Page 358
3.8.2 Passivity-based contact transition stability analysis......Page 359
3.8.3 Robust transition stability - generalized contact stability......Page 363
3.8.4 Equivalence of robust- and passivity-based contact stability......Page 366
3.9.1 Coulomb’s friction......Page 370
3.9.2 Control lags and sampling effects......Page 371
3.9.2.1 Ideal target system with force delay......Page 373
3.9.2.2 Robust and passivity-based contact stability of discrete-time system......Page 384
3.9.2.3 Contact stability of sampled-data system......Page 388
3.10 Evaluation of Contact Transition Stability Conditions......Page 394
3.10.1 Contact transition performance indices......Page 398
3.10.2 Contact transition assessment......Page 400
3.10.3 Upper limits on target impedance frequency......Page 413
3.11 Conclusion......Page 417
Bibliography......Page 420
4.1 Introduction......Page 424
4.2.1 Influence of target frequency and mass on contact transition......Page 425
4.2.2 Reduction of force overshoots – Hogan’s target impedance model (generalized stiffness control)......Page 428
4.3 Selection of Target Impedance Parameters – Impedance Control Design at Lower Control Layer......Page 433
4.3.1 Specification of impedance control geometry......Page 435
4.3.2 Specification of input design parameters - user interface......Page 445
4.3.3 Design algorithm......Page 450
4.4 Synthesis of Impedance Control at Higher Layers......Page 470
4.4.1 World model for the impedance control......Page 471
4.4.2 Impedance control integration into forward industrial robot position control......Page 476
4.4.3.1 End-effector position modification......Page 480
4.4.3.3 Computation of path correction......Page 482
4.4.3.4 Delta x to delta T transformation (deltax_2_deltaT)......Page 483
4.4.3.5 Compensation for payload and inertial effects......Page 484
4.4.3.6 Sensor frame to compliance frame transformation (Sf2cf)......Page 485
4.4.3.8 Force sensor data preprocessing......Page 486
4.4.4.1 Impedance control operating modes......Page 487
4.4.4.2 Change of impedance gains (relax)......Page 488
4.4.5 Actions and tasks control algorithms......Page 490
4.4.5.1 Grasping/detach action......Page 492
4.4.5.2 Insertion/extraction......Page 495
4.5 Conclusion......Page 504
Bibliography......Page 506
5.1 Introduction......Page 510
5.2 Haptic System Structures......Page 511
5.3 Haptic Rendering......Page 515
5.4 Robust Control of Haptic Systems Interaction......Page 517
5.4.1 Admittance display control......Page 518
5.4.2 Impedance display control......Page 529
5.5 Conclusion......Page 535
Bibliography......Page 536
6.1 Introduction......Page 538
6.2 The Role of Learning in Intelligent Control Algorithms for Compliant Tasks......Page 542
6.3 A Survey of Intelligent Control Techniques for Robotic Contact Tasks......Page 551
6.4.1 The background of the new connectionist control synthesis......Page 571
6.4.2 Model of robot interacting with dynamic environment – task setting......Page 573
6.4.3 Factors affecting task performance and stability in robotic compliance control......Page 576
6.4.4 The comprehensive connectionist control algorithm based on learning and classification for compliance robotic tasks......Page 578
6.4.5 The genetic-connectionist algorithm for compliant robotic tasks......Page 586
6.4.6 GA tuning of PI force feedback gains......Page 588
6.4.7 Case studies......Page 589
6.5 Connectionist Reactive Control for Robotic Assembly Tasks by Soft Sensored Grippers......Page 594
6.5.1 Analysis of the assembly process with soft fingers......Page 596
6.5.2 Assembly process......Page 597
6.5.3 Learning compliance methodology by neural networks......Page 598
6.5.4 Experimental results......Page 599
6.6.1 Introduction......Page 603
6.6.2 Definition of control problem and advanced control methods for humanoid robots......Page 606
6.6.3.1 Model of the robot’s mechanism......Page 612
6.6.3.2 Definition of control criteria......Page 613
6.6.3.3 Gait phases and indicator of dynamic balance......Page 615
6.6.4 Hybrid integrated dynamic control algorithm with reinforcement structure.......Page 617
6.6.4.1 Dynamic controller of trajectory tracking......Page 619
6.6.4.2 Compensator of dynamic reactions based on reinforcement learning structure......Page 620
6.6.4.3 Impact-force controller......Page 624
6.6.4.4 Conflict between controllers......Page 625
6.6.5 Simulation studies......Page 627
6.7 Conclusion......Page 635
Bibliography......Page 637
Instead of Conclusion......Page 644
Index......Page 648