Exploiting null space potentials to control arm robots compliantly performing nonlinear tactile tasks

• Main Authors: Nikolas Wilhelm, Rainer Burgkart, Jan Lang, Carina Micheler, Constantin von Deimling
• Format: Article
• Language: English
• Published: SAGE Publishing 2019-11-01
• Series: International Journal of Advanced Robotic Systems
• Online Access: https://doi.org/10.1177/1729881419885473

In this article, two new compliant control architectures are introduced that utilize null space solutions to decouple force and position control. They are capable to interact with uncertain surfaces and environments with varying materials and require fewer parameters to be tuned than the common architectures – hybrid or impedance control. The general concept behind these approaches allows to consider manipulators with six degrees of freedom as redundant by creating a virtual redundancy with a reduced work space. It will be demonstrated that the introduced approaches are superior regarding orthogonal separation of the Cartesian degrees of freedom and avoid inner singularities. To demonstrate their performance, the controllers are tested on a standard industrial robot (Stäubli, RX90B, six degrees of freedom) that actuates two different biomechanically inspired models of the human knee joint.