An Optimization-Based Impedance Approach for Robot Force Regulation with Prescribed Force Limits

An Optimization-Based Impedance Approach for Robot Force Regulation with Prescribed Force Limits

An optimization based approach for the regulation of excessive or insufficient forces at the end-effector level is introduced. The objective is to minimize the interaction force error at the robot end effector, while constraining undesired interaction forces. To that end, a dynamic optimization prob...

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Main Authors: R. de J. Portillo-Vélez, A. Rodriguez-Angeles, C. A. Cruz-Villar
Format: Article
Language:English
Published: Hindawi Limited 2015-01-01
Series:Mathematical Problems in Engineering
Online Access:http://dx.doi.org/10.1155/2015/918301
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spelling doaj-dc71821983244e0c99f0248a01e638252020-11-24T22:40:46ZengHindawi LimitedMathematical Problems in Engineering1024-123X1563-51472015-01-01201510.1155/2015/918301918301An Optimization-Based Impedance Approach for Robot Force Regulation with Prescribed Force LimitsR. de J. Portillo-Vélez0A. Rodriguez-Angeles1C. A. Cruz-Villar2Facultad de Ingeniería, Universidad Veracruzana, Boulevard Adolfo Ruiz Cortines S/N, Costa Verde, 94294 Boca del Río, VER, MexicoCentro de Investigación y de Estudios Avanzados del IPN, Unidad Zacatenco, Departamento de Ingeniería Eléctrica, Sección de Mecatrónica, Avenida Instituto Politécnico Nacional No. 2508, 07360 San Pedro Zacatenco, México, DF, MexicoCentro de Investigación y de Estudios Avanzados del IPN, Unidad Zacatenco, Departamento de Ingeniería Eléctrica, Sección de Mecatrónica, Avenida Instituto Politécnico Nacional No. 2508, 07360 San Pedro Zacatenco, México, DF, MexicoAn optimization based approach for the regulation of excessive or insufficient forces at the end-effector level is introduced. The objective is to minimize the interaction force error at the robot end effector, while constraining undesired interaction forces. To that end, a dynamic optimization problem (DOP) is formulated considering a dynamic robot impedance model. Penalty functions are considered in the DOP to handle the constraints on the interaction force. The optimization problem is online solved through the gradient flow approach. Convergence properties are presented and the stability is drawn when the force limits are considered in the analysis. The effectiveness of our proposal is validated via experimental results for a robotic grasping task.http://dx.doi.org/10.1155/2015/918301
collection DOAJ
language English
format Article
sources DOAJ
author R. de J. Portillo-Vélez
A. Rodriguez-Angeles
C. A. Cruz-Villar
spellingShingle R. de J. Portillo-Vélez
A. Rodriguez-Angeles
C. A. Cruz-Villar
An Optimization-Based Impedance Approach for Robot Force Regulation with Prescribed Force Limits
Mathematical Problems in Engineering
author_facet R. de J. Portillo-Vélez
A. Rodriguez-Angeles
C. A. Cruz-Villar
author_sort R. de J. Portillo-Vélez
title An Optimization-Based Impedance Approach for Robot Force Regulation with Prescribed Force Limits
title_short An Optimization-Based Impedance Approach for Robot Force Regulation with Prescribed Force Limits
title_full An Optimization-Based Impedance Approach for Robot Force Regulation with Prescribed Force Limits
title_fullStr An Optimization-Based Impedance Approach for Robot Force Regulation with Prescribed Force Limits
title_full_unstemmed An Optimization-Based Impedance Approach for Robot Force Regulation with Prescribed Force Limits
title_sort optimization-based impedance approach for robot force regulation with prescribed force limits
publisher Hindawi Limited
series Mathematical Problems in Engineering
issn 1024-123X
1563-5147
publishDate 2015-01-01
description An optimization based approach for the regulation of excessive or insufficient forces at the end-effector level is introduced. The objective is to minimize the interaction force error at the robot end effector, while constraining undesired interaction forces. To that end, a dynamic optimization problem (DOP) is formulated considering a dynamic robot impedance model. Penalty functions are considered in the DOP to handle the constraints on the interaction force. The optimization problem is online solved through the gradient flow approach. Convergence properties are presented and the stability is drawn when the force limits are considered in the analysis. The effectiveness of our proposal is validated via experimental results for a robotic grasping task.
url http://dx.doi.org/10.1155/2015/918301
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