An Admittance Controller with a Jerk Limiter for Position-Controlled Robots

Mae, Ryusei; Kikuuwe, Ryo

doi:10.51094/jxiv.444

##article.authors##

Mae, Ryusei Graduate School of Advanced Science of Engineering, Hiroshima University https://orcid.org/0009-0004-2621-5015
Kikuuwe, Ryo Graduate School of Advanced Science of Engineering, Hiroshima University https://orcid.org/0000-0002-1500-6777

DOI:

https://doi.org/10.51094/jxiv.444

キーワード:

Admittance control、 jerk limiter、 vibration suppression、 normal cone、 differential inclusion、 UR3e

抄録

This paper proposes an admittance control scheme for robots equipped with joint-level position controllers involving deadtime. Its main feature is an elaborate discrete-time jerk limiter, which limits the third derivative of the position command sent to the controller. The jerk limiter is designed to suppress undesirable oscillation especially when the robot is in contact with stiff environments. The controller is designed as a differential inclusion involving normal cones in the continuous-time domain, and its discrete-time algorithm is derived by the implicit Euler discretization. The presented controller was validated with experiments using a collaborative robot UR3e of Universal Robots, which has the deadtime of 6 ms in the velocity-command mode.

利益相反に関する開示

The authors declare no potential conflict of interests.

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