Admittance control of manipulators in unknown environment

Cunqiu Liu, Junyao Gao, Fangzhou Zhao, Jingchao Zhao, Chuzhao Liu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

The manipulator may contact with obstacles when working in an unknown environment. The manipulator using position control only is unable to get away from the obstacle after contact with obstacles. Moreover, the contact force between the manipulator and the obstacle and the output torque of the joint actuator will increase with the increase of position error, which may damage the manipulator. In order to solve this problem, this paper proposes a control method of manipulator based on admittance control in unknown environment. This method applies a virtual force in the direction of vertical with contact force, and adopts admittance control in the direction of contact force and vertical with contact force respectively. The simulation results show that, compared with the manipulator only using position control, this method can reduce the output torque of joint actuator as well as when the manipulator contact with the obstacle, but also can make the manipulator get out of the obstacles to arrive at the target position. Therefore, using this method, the manipulator can complete the task safely in unknown environment.

Original languageEnglish
Title of host publicationProceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2157-2162
Number of pages6
ISBN (Electronic)9781538660720
DOIs
Publication statusPublished - 5 Oct 2018
Event15th IEEE International Conference on Mechatronics and Automation, ICMA 2018 - Changchun, China
Duration: 5 Aug 20188 Aug 2018

Publication series

NameProceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018

Conference

Conference15th IEEE International Conference on Mechatronics and Automation, ICMA 2018
Country/TerritoryChina
CityChangchun
Period5/08/188/08/18

Keywords

  • Admittance control
  • Manipulator control
  • Obstacle avoidance

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Liu, C., Gao, J., Zhao, F., Zhao, J., & Liu, C. (2018). Admittance control of manipulators in unknown environment. In Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018 (pp. 2157-2162). Article 8484392 (Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2018.8484392