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Sensorless Impedance Control for the UR5 Robot

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dc.contributor.author Fabian J. es_PE
dc.contributor.author Garcia-Cardenas F. es_PE
dc.contributor.author Canahuire R. es_PE
dc.contributor.author Ramos O.E. es_PE
dc.date.accessioned 2024-05-30T23:13:38Z
dc.date.available 2024-05-30T23:13:38Z
dc.date.issued 2020
dc.description.abstract Robot manipulators are designed to interact with their surroundings. Even if a task does not specifically involve interaction, the robot may collide with unknown obstacles during its motion. To overcome these problems, it is necessary to consider possible interactions inside the control system. This paper aims to design a controller that allows the manipulator to reach a final pose, even if it interacts with an unforeseen object during its trajectory. This design is composed of two stages: A feedback linearization system that allows to eliminate intrinsic nonlinearities of the robot, and the imposition of a dynamic behavior to keep delicate interactions without using external 6D force/torque sensors. The proposed controller was tested on an UR5 robot, but can be extended to any robotic manipulator. The results show the comparison between the behavior achieved by a standard feedback-linearized position controller, and a sensor-free impedance controller, both for environments with and without unknown obstacles, in which the proposed controller generated smoother and more precise trajectories. © 2020 IEEE.
dc.description.sponsorship Consejo Nacional de Ciencia, Tecnología e Innovación Tecnológica - Concytec
dc.identifier.doi https://doi.org/10.1109/ICCAD49821.2020.9260525
dc.identifier.scopus 2-s2.0-85098510818
dc.identifier.uri https://hdl.handle.net/20.500.12390/2477
dc.language.iso eng
dc.publisher Institute of Electrical and Electronics Engineers Inc.
dc.relation.ispartof 2020 International Conference on Control, Automation and Diagnosis, ICCAD 2020 - Proceedings
dc.rights info:eu-repo/semantics/openAccess
dc.subject UR5 robot
dc.subject collisions es_PE
dc.subject feedback linearization es_PE
dc.subject impedance control es_PE
dc.subject.ocde http://purl.org/pe-repo/ocde/ford#2.02.02
dc.title Sensorless Impedance Control for the UR5 Robot
dc.type info:eu-repo/semantics/article
dspace.entity.type Publication
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