Exploitation of environment support contacts for manipulation effort reduction of a robot arm

Cheng Fang, Navvab Kashiri, Giuseppe F. Rigano, Arash Ajoudani, Nikos G. Tsagarakis

Publikation: Bidrag til bog/antologi/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

Resumé

Humans commonly exploit interaction with the environment constraints to assist the execution of the locomanipulation tasks they perform. One particular example is the exploration of contacts during manipulation to relax the loading of those arm joints that are not directly involved in the generation of the manipulation motions and forces, e.g. establishing a contact with the elbow joint to reduce the effort of the upper arm while executing wrist level manipulation.In this paper, we shall explore the possibility of actively (a) utilizing the environment for a non-end-effector support contact towards reducing the joints efforts during manipulation tasks. This is achieved by our proposed control scheme with a three-level hierarchical compliance controller. The highest priority task is assigned to an impedance control that regulates the interaction at the contact control point on the arm in the normal direction of the support plane prior to contact, and is switched to an optimal contact force control for minimizing the joint effort after the contact is built. The second priority task is an impedance control at the same point in the tangential directions of the plane to stabilize the contact. In the end, an impedance behavior at the end-effector is designed to deal with the interaction forces required by the manipulation tasks. The efficacy of the proposed control scheme was corroborated by simulations and experiments, where significant joint effort reduction was observed.

OriginalsprogEngelsk
Titel2019 International Conference on Robotics and Automation, ICRA 2019
Antal sider7
ForlagIEEE
Publikationsdato1. maj 2019
Sider9502-9508
Artikelnummer8794119
ISBN (Elektronisk)9781538660263
DOI
StatusUdgivet - 1. maj 2019
Begivenhed2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Varighed: 20. maj 201924. maj 2019

Konference

Konference2019 International Conference on Robotics and Automation, ICRA 2019
LandCanada
ByMontreal
Periode20/05/201924/05/2019
SponsorBosch, DJI, et al., Kinova, Mercedes-Benz, Samsung
NavnProceedings - IEEE International Conference on Robotics and Automation
Vol/bind2019-May
ISSN1050-4729

Fingeraftryk

Robots
Force control
End effectors
Controllers
Experiments

Citer dette

Fang, C., Kashiri, N., Rigano, G. F., Ajoudani, A., & Tsagarakis, N. G. (2019). Exploitation of environment support contacts for manipulation effort reduction of a robot arm. I 2019 International Conference on Robotics and Automation, ICRA 2019 (s. 9502-9508). [8794119] IEEE. Proceedings - IEEE International Conference on Robotics and Automation, Bind. 2019-May https://doi.org/10.1109/ICRA.2019.8794119
Fang, Cheng ; Kashiri, Navvab ; Rigano, Giuseppe F. ; Ajoudani, Arash ; Tsagarakis, Nikos G. / Exploitation of environment support contacts for manipulation effort reduction of a robot arm. 2019 International Conference on Robotics and Automation, ICRA 2019. IEEE, 2019. s. 9502-9508 (Proceedings - IEEE International Conference on Robotics and Automation, Bind 2019-May).
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title = "Exploitation of environment support contacts for manipulation effort reduction of a robot arm",
abstract = "Humans commonly exploit interaction with the environment constraints to assist the execution of the locomanipulation tasks they perform. One particular example is the exploration of contacts during manipulation to relax the loading of those arm joints that are not directly involved in the generation of the manipulation motions and forces, e.g. establishing a contact with the elbow joint to reduce the effort of the upper arm while executing wrist level manipulation.In this paper, we shall explore the possibility of actively (a) utilizing the environment for a non-end-effector support contact towards reducing the joints efforts during manipulation tasks. This is achieved by our proposed control scheme with a three-level hierarchical compliance controller. The highest priority task is assigned to an impedance control that regulates the interaction at the contact control point on the arm in the normal direction of the support plane prior to contact, and is switched to an optimal contact force control for minimizing the joint effort after the contact is built. The second priority task is an impedance control at the same point in the tangential directions of the plane to stabilize the contact. In the end, an impedance behavior at the end-effector is designed to deal with the interaction forces required by the manipulation tasks. The efficacy of the proposed control scheme was corroborated by simulations and experiments, where significant joint effort reduction was observed.",
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Fang, C, Kashiri, N, Rigano, GF, Ajoudani, A & Tsagarakis, NG 2019, Exploitation of environment support contacts for manipulation effort reduction of a robot arm. i 2019 International Conference on Robotics and Automation, ICRA 2019., 8794119, IEEE, Proceedings - IEEE International Conference on Robotics and Automation, bind 2019-May, s. 9502-9508, 2019 International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada, 20/05/2019. https://doi.org/10.1109/ICRA.2019.8794119

Exploitation of environment support contacts for manipulation effort reduction of a robot arm. / Fang, Cheng; Kashiri, Navvab; Rigano, Giuseppe F.; Ajoudani, Arash; Tsagarakis, Nikos G.

2019 International Conference on Robotics and Automation, ICRA 2019. IEEE, 2019. s. 9502-9508 8794119 (Proceedings - IEEE International Conference on Robotics and Automation, Bind 2019-May).

Publikation: Bidrag til bog/antologi/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

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AU - Ajoudani, Arash

AU - Tsagarakis, Nikos G.

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AB - Humans commonly exploit interaction with the environment constraints to assist the execution of the locomanipulation tasks they perform. One particular example is the exploration of contacts during manipulation to relax the loading of those arm joints that are not directly involved in the generation of the manipulation motions and forces, e.g. establishing a contact with the elbow joint to reduce the effort of the upper arm while executing wrist level manipulation.In this paper, we shall explore the possibility of actively (a) utilizing the environment for a non-end-effector support contact towards reducing the joints efforts during manipulation tasks. This is achieved by our proposed control scheme with a three-level hierarchical compliance controller. The highest priority task is assigned to an impedance control that regulates the interaction at the contact control point on the arm in the normal direction of the support plane prior to contact, and is switched to an optimal contact force control for minimizing the joint effort after the contact is built. The second priority task is an impedance control at the same point in the tangential directions of the plane to stabilize the contact. In the end, an impedance behavior at the end-effector is designed to deal with the interaction forces required by the manipulation tasks. The efficacy of the proposed control scheme was corroborated by simulations and experiments, where significant joint effort reduction was observed.

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Fang C, Kashiri N, Rigano GF, Ajoudani A, Tsagarakis NG. Exploitation of environment support contacts for manipulation effort reduction of a robot arm. I 2019 International Conference on Robotics and Automation, ICRA 2019. IEEE. 2019. s. 9502-9508. 8794119. (Proceedings - IEEE International Conference on Robotics and Automation, Bind 2019-May). https://doi.org/10.1109/ICRA.2019.8794119