Studies on motion control of robot manipulators with elastic joints are basically aimed at improving robot performance in tracking or regulation tasks. In the interaction between robots and environment, instead, the main objective of a control strategy should be the reduction of the vibrational and chattering phenomena that elasticity in the robot joints can cause. This work takes into account working environments where unexpected interactions are experienced and proposes a compliance control scheme in the Cartesian space to reduce the counter effects of elasticity. Two theoretical formulations of the control law are presented, which differ for the term of gravity compensation. For both of them the closed-loop equilibrium conditions are evaluated and asymptotic stability is proven through the direct Lyapunov method. The two control laws are applied to a particular class of elastic robot manipulators, i.e., cable-actuated robots, since their intrinsic mechanical compliance can be successfully utilized in applications of biomedical robotics and assistive robotics. A compared experimental analysis of the two formulations of compliance control is finally carried out in order to verify stability of the two closed-loop systems as well as the capability to control the robot force in the interaction.
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e-mail: l.zollo@unicampus.it
e-mail: siciliano@unina.it
e-mail: deluca@dis.uniromal.it
e-mail: e.guglielmelli@unicampus.it
e-mail: p.dario@arts.sssup.it
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September 2005
Technical Papers
Compliance Control for an Anthropomorphic Robot with Elastic Joints: Theory and Experiments
Loredana Zollo,
e-mail: l.zollo@unicampus.it
Loredana Zollo
+39 06 22541452
+39 06 22541751
Biomedical Robotics & EMC Laboratory
, Università Campus Bio-Medico Via Emilio Longoni 83 00155 Roma, Italy
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Bruno Siciliano,
Bruno Siciliano
+39 081 7683179
+39 062 33226128
PRISMA Lab, Dipartimento di Informatica e Sistemistica,
e-mail: siciliano@unina.it
Università degli Studi di Napoli Federico II
, Via Claudio 21, 80125 Napoli, Italy
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Alessandro De Luca,
Alessandro De Luca
+39 06 44585371
+39 06 44585367
Dipartimento di Informatica e Sistemistica,
e-mail: deluca@dis.uniromal.it
Università degli Studi di Roma “La Sapienza,”
Via Eudossiana 18, 00184 Roma, Italy
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Eugenio Guglielmelli,
e-mail: e.guglielmelli@unicampus.it
Eugenio Guglielmelli
+39 06 22541452
+39 06 22541751
Biomedical Robotics & EMC Laboratory
, Università Campus Bio-Medico Via Emilio Longoni 83 00155 Roma, Italy
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Paolo Dario
e-mail: p.dario@arts.sssup.it
Paolo Dario
+39 050 883400
+39 050 883497
Scuola Superiore Sant’Anna
, ARTS Lab-c/o Polo Sant’Anna Valdera, Viale Rinaldo Piaggio 34, 56025 Pontedera (Pisa), Italy
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Loredana Zollo
+39 06 22541452
+39 06 22541751
Biomedical Robotics & EMC Laboratory
, Università Campus Bio-Medico Via Emilio Longoni 83 00155 Roma, Italye-mail: l.zollo@unicampus.it
Bruno Siciliano
+39 081 7683179
+39 062 33226128
PRISMA Lab, Dipartimento di Informatica e Sistemistica,
Università degli Studi di Napoli Federico II
, Via Claudio 21, 80125 Napoli, Italye-mail: siciliano@unina.it
Alessandro De Luca
+39 06 44585371
+39 06 44585367
Dipartimento di Informatica e Sistemistica,
Università degli Studi di Roma “La Sapienza,”
Via Eudossiana 18, 00184 Roma, Italye-mail: deluca@dis.uniromal.it
Eugenio Guglielmelli
+39 06 22541452
+39 06 22541751
Biomedical Robotics & EMC Laboratory
, Università Campus Bio-Medico Via Emilio Longoni 83 00155 Roma, Italye-mail: e.guglielmelli@unicampus.it
Paolo Dario
+39 050 883400
+39 050 883497
Scuola Superiore Sant’Anna
, ARTS Lab-c/o Polo Sant’Anna Valdera, Viale Rinaldo Piaggio 34, 56025 Pontedera (Pisa), Italye-mail: p.dario@arts.sssup.it
J. Dyn. Sys., Meas., Control. Sep 2005, 127(3): 321-328 (8 pages)
Published Online: July 9, 2004
Article history
Received:
August 6, 2003
Revised:
July 9, 2004
Citation
Zollo, L., Siciliano, B., De Luca, A., Guglielmelli, E., and Dario, P. (July 9, 2004). "Compliance Control for an Anthropomorphic Robot with Elastic Joints: Theory and Experiments." ASME. J. Dyn. Sys., Meas., Control. September 2005; 127(3): 321–328. https://doi.org/10.1115/1.1978911
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