Automated Off-Line Generation of Stable Variable Impedance Controllers According to Performance Specifications

In this letter, we propose a novel methodology for off-line generating stable Variable Impedance Controllers considering any parameter modulation law in function of exogenous signals to the robot, as e.g. the exerted force by the human in a collaborative task. The aim is to find the optimal controll...

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Detalhes bibliográficos
Autores: San Miguel, Alberto, Alenyà, Guillem, Puig, Vicenç
Tipo de documento: artigo
Estado:Versión aceptada para publicación
Data de publicação:2022
País:España
Recursos:Consejo Superior de Investigaciones Científicas (CSIC)
Repositório:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/295784
Acesso em linha:http://hdl.handle.net/10261/295784
Access Level:Acceso aberto
Palavra-chave:Physical human-robot interaction
Compliance and impedance control
Optimization and optimal control
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spelling Automated Off-Line Generation of Stable Variable Impedance Controllers According to Performance SpecificationsSan Miguel, AlbertoAlenyà, GuillemPuig, VicençPhysical human-robot interactionCompliance and impedance controlOptimization and optimal controlIn this letter, we propose a novel methodology for off-line generating stable Variable Impedance Controllers considering any parameter modulation law in function of exogenous signals to the robot, as e.g. the exerted force by the human in a collaborative task. The aim is to find the optimal controller according to a desired trade-off between accuracy and control effort. Each controller is formulated as a polytopic Linear Parameter Varying system consisting in a set of vertex systems at the limit operation points. Then, the stability and operating properties can be assessed through Linear Matrix Inequalities, from which an optimality index can be obtained. This index is used by a genetic optimisation algorithm to iteratively generate new controller solutions towards the best one. To exemplify our method we choose a case study of modulation laws for tasks that require a physical interaction between human and robot. Generated solutions for different trade-offs are evaluated on a object handover scenario using a 7-DoF WAM robotic manipulator.This work was supported in part by MCIN/ AEI /10.13039/501100011033 and the European Union NextGenerationEU/PRTR under the Project ROB-IN PLEC2021-007859, and in part by the European Union NextGenerationEU/PRTR through CSIC’s Thematic Platforms (PTI+ Neuro-Aging).Institute of Electrical and Electronics EngineersEuropean CommissionAgencia Estatal de Investigación (España)Ministerio de Ciencia e Innovación (España)Consejo Superior de Investigaciones Científicas (España)Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]2023202320222023info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501Postprintinfo:eu-repo/semantics/acceptedVersionhttp://hdl.handle.net/10261/295784reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Ingléshttp://dx.doi.org/10.1109/LRA.2022.3160593Síinfo:eu-repo/semantics/openAccessoai:digital.csic.es:10261/2957842026-05-22T06:33:51Z
dc.title.none.fl_str_mv Automated Off-Line Generation of Stable Variable Impedance Controllers According to Performance Specifications
title Automated Off-Line Generation of Stable Variable Impedance Controllers According to Performance Specifications
spellingShingle Automated Off-Line Generation of Stable Variable Impedance Controllers According to Performance Specifications
San Miguel, Alberto
Physical human-robot interaction
Compliance and impedance control
Optimization and optimal control
title_short Automated Off-Line Generation of Stable Variable Impedance Controllers According to Performance Specifications
title_full Automated Off-Line Generation of Stable Variable Impedance Controllers According to Performance Specifications
title_fullStr Automated Off-Line Generation of Stable Variable Impedance Controllers According to Performance Specifications
title_full_unstemmed Automated Off-Line Generation of Stable Variable Impedance Controllers According to Performance Specifications
title_sort Automated Off-Line Generation of Stable Variable Impedance Controllers According to Performance Specifications
dc.creator.none.fl_str_mv San Miguel, Alberto
Alenyà, Guillem
Puig, Vicenç
author San Miguel, Alberto
author_facet San Miguel, Alberto
Alenyà, Guillem
Puig, Vicenç
author_role author
author2 Alenyà, Guillem
Puig, Vicenç
author2_role author
author
dc.contributor.none.fl_str_mv European Commission
Agencia Estatal de Investigación (España)
Ministerio de Ciencia e Innovación (España)
Consejo Superior de Investigaciones Científicas (España)
Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]
dc.subject.none.fl_str_mv Physical human-robot interaction
Compliance and impedance control
Optimization and optimal control
topic Physical human-robot interaction
Compliance and impedance control
Optimization and optimal control
description In this letter, we propose a novel methodology for off-line generating stable Variable Impedance Controllers considering any parameter modulation law in function of exogenous signals to the robot, as e.g. the exerted force by the human in a collaborative task. The aim is to find the optimal controller according to a desired trade-off between accuracy and control effort. Each controller is formulated as a polytopic Linear Parameter Varying system consisting in a set of vertex systems at the limit operation points. Then, the stability and operating properties can be assessed through Linear Matrix Inequalities, from which an optimality index can be obtained. This index is used by a genetic optimisation algorithm to iteratively generate new controller solutions towards the best one. To exemplify our method we choose a case study of modulation laws for tasks that require a physical interaction between human and robot. Generated solutions for different trade-offs are evaluated on a object handover scenario using a 7-DoF WAM robotic manipulator.
publishDate 2022
dc.date.none.fl_str_mv 2022
2023
2023
2023
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
Postprint
info:eu-repo/semantics/acceptedVersion
format article
status_str acceptedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/295784
url http://hdl.handle.net/10261/295784
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv http://dx.doi.org/10.1109/LRA.2022.3160593
Sí
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,812429

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