IDEAS home Printed from https://ideas.repec.org/a/gam/jeners/v14y2021i20p6693-d656913.html
   My bibliography  Save this article

Grasped Object Weight Compensation in Reference to Impedance Controlled Robots

Author

Listed:
  • Tomasz Winiarski

    (Faculty of Electronics and Information Technology, Institute of Control and Computation Engineering, Warsaw University of Technology, Nowowiejska 15/19, 00-665 Warsaw, Poland)

  • Szymon Jarocki

    (Faculty of Electronics and Information Technology, Institute of Control and Computation Engineering, Warsaw University of Technology, Nowowiejska 15/19, 00-665 Warsaw, Poland)

  • Dawid Seredyński

    (Faculty of Electronics and Information Technology, Institute of Control and Computation Engineering, Warsaw University of Technology, Nowowiejska 15/19, 00-665 Warsaw, Poland)

Abstract

This paper addresses the problem of grasped object weight compensation in the one-handed manipulation of impedance controlled robots. In an exemplary identification procedure, the weight of an object and its centre of mass together with gripper kinematic configuration are identified. The procedure is based on the measurements from a 6-axis force/torque sensor mounted near the gripper. The proposed method reduces trajectory tracking errors coming from the model imprecision without compromising the main advantages of impedance control. The whole approach is applied according to the embodied agent paradigm and verified on the two-arm service robot both in simulation and on hardware. Due to the general description that follows system engineering standards, the method can be easily modified or applied to similar systems.

Suggested Citation

  • Tomasz Winiarski & Szymon Jarocki & Dawid Seredyński, 2021. "Grasped Object Weight Compensation in Reference to Impedance Controlled Robots," Energies, MDPI, vol. 14(20), pages 1-15, October.
  • Handle: RePEc:gam:jeners:v:14:y:2021:i:20:p:6693-:d:656913
    as

    Download full text from publisher

    File URL: https://www.mdpi.com/1996-1073/14/20/6693/pdf
    Download Restriction: no

    File URL: https://www.mdpi.com/1996-1073/14/20/6693/
    Download Restriction: no
    ---><---

    References listed on IDEAS

    as
    1. Kun Yang & Yibin Li & Lelai Zhou & Xuewen Rong, 2019. "Energy Efficient Foot Trajectory of Trot Motion for Hydraulic Quadruped Robot," Energies, MDPI, vol. 12(13), pages 1-24, June.
    2. Phong B. Dao, 2021. "Learning Feedforward Control Using Multiagent Control Approach for Motion Control Systems," Energies, MDPI, vol. 14(2), pages 1-17, January.
    3. Savvas Piperidis & Iason Chrysomallis & Stavros Georgakopoulos & Nikolaos Ghionis & Lefteris Doitsidis & Nikos Tsourveloudis, 2021. "A ROS-Based Energy Management System for a Prototype Fuel Cell Hybrid Vehicle," Energies, MDPI, vol. 14(7), pages 1-19, April.
    Full references (including those not matched with items on IDEAS)

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Kabir A. Mamun & F. R. Islam & R. Haque & Aneesh A. Chand & Kushal A. Prasad & Krishneel K. Goundar & Krishneel Prakash & Sidharth Maharaj, 2022. "Systematic Modeling and Analysis of On-Board Vehicle Integrated Novel Hybrid Renewable Energy System with Storage for Electric Vehicles," Sustainability, MDPI, vol. 14(5), pages 1-33, February.
    2. Md. Sazal Miah & Molla Shahadat Hossain Lipu & Sheikh Tanzim Meraj & Kamrul Hasan & Shaheer Ansari & Taskin Jamal & Hasan Masrur & Rajvikram Madurai Elavarasan & Aini Hussain, 2021. "Optimized Energy Management Schemes for Electric Vehicle Applications: A Bibliometric Analysis towards Future Trends," Sustainability, MDPI, vol. 13(22), pages 1-38, November.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:gam:jeners:v:14:y:2021:i:20:p:6693-:d:656913. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: MDPI Indexing Manager (email available below). General contact details of provider: https://www.mdpi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.