Torque-Bounded Task-Space Admittance Control  for Redundant Manipulators

Kikuuwe, Ryo

doi:10.51094/jxiv.1075

##article.authors##

Kikuuwe, Ryo Hiroshima University https://orcid.org/0000-0002-1500-6777

DOI:

https://doi.org/10.51094/jxiv.1075

キーワード:

Admittance Control、 Nullspace、 Redundancy、 Singular Configuration

抄録

This paper presents a task-space admittance controller applicable to redundant manipulators equipped with torque sensors. It extends Kikuuwe's (2019) torque-bounded admittance controller (TBAC), which allows for imposing explicit limits on the joint actuator torques without causing unsafe behaviors such as oscillation and overshoots. The proposed controller enforces the end-effector to follow predefined task-space dynamics as long as the joint torques are unsaturated and the configuration is away from singularities. The behavior in the nullspace, which arises from the redundant degrees of freedom and singular configurations, is governed by predefined joint-space dynamics. The task-space and joint-space dynamics are combined through the use of a continualized pseudoinverse employing the singular value decomposition. Results of experiments using a seven-degree-of-freedom Kinova Gen3 robot illustrate the validity of the proposed admittance controller in various scenarios, including the case where the robot is fully stretched.

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The author declares no potential conflict of interest.

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Torque-Bounded Task-Space Admittance Control for Redundant Manipulators