[1]ZHANG Guanghui,WANG Yaonan.A wide range compliance control method in gravity environment based on end force/torque sensor[J].CAAI Transactions on Intelligent Systems,2015,10(5):675-683.[doi:10.11992/tis.201411026]
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A wide range compliance control method in gravity environment based on end force/torque sensor

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 10 Number of periods: 2015 5 Page number: 675-683 Column: 学术论文—智能系统 Public date: 2015-10-25
Title:
A wide range compliance control method in gravity environment based on end force/torque sensor
Author(s):
ZHANG Guanghui;  WANG Yaonan
College of Electrical and Information Engineering, Hunan University, Changsha 410082, China
Keywords:
manipulator; force/torque sensor; kinematics; compliance control; gravity compensation
CLC:
TP24
DOI:
10.11992/tis.201411026
Abstract:
To achieve robotic compliance control over a wide range under gravity, a wide range compliance control method in gravity environment based on end force/torque (F/T) sensor was proposed, which controls the stress on manipulator’s end through a joint space position impedance control strategy. In order to remove the influence of the end’s gravity on the F/T sensor measurements, and convert the F/T measurements to the base coordinate system, a real-time compensation of the end’s gravity with manipulator kinematics was conducted, meanwhile, the manipulator end position and pose were fixed, by reversing the F/T in each direction under the base coordinate system to the joint space to implement compliance control through the joint position controller. The experimental results show that this method can compensate for the effects of gravity on the robotic end F/T sensor measurements in real time, so that the manipulator could comply with external force in any position or posture in gravity environment,without the aid of any other device. This proves the effectiveness and feasibility of this method.
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