A transferable force controller based on prescribed performance for contact establishment in robotic assembly tasks∗

Halt L, Pan F, Tenbrock P, Pott A, Seel T (2019)

Publication Type: Conference contribution

Publication year: 2019

Publisher: IEEE Computer Society

Book Volume: 2019-August

Pages Range: 830-835

Conference Proceedings Title: IEEE International Conference on Automation Science and Engineering

Event location: Vancouver, BC CA

ISBN: 9781728103556

DOI: 10.1109/COASE.2019.8843020

Abstract

In industrial robotics, controller parameters for force control must be adjusted to the specific robot that performs a task and they must be re-adjusted when the same task is to be performed by another robot. We address this challenge by proposing a transferable force controller for contact establishment between robot and surface. The controller is implemented based on task frame formalism. The proposed controller is based on prescribed performance control (PPC) and does not rely on a dynamic model of the environment. Due to the inherent robustness of PPC, it can be used to ensure similar performance for the same task across different robots and environments. The proposed controller is validated experimentally in a simple contact establishment task performed by three different robots (Universal Robots UR5, Franka Emika Panda, Denso Wave VS087) and three different board materials providing different stiffness (steel, aluminum, PVC). The PPC is found to yield an up to two orders of magnitude smaller variance of closed-loop settling time across all robots and materials than a conventional impedance controller.

Authors with CRIS profile

Thomas Seel

Involved external institutions

Technische Universität Berlin DE Germany (DE) Fraunhofer-Institut für Produktionstechnik und Automatisierung (IPA) DE Germany (DE)

How to cite

APA:

Halt, L., Pan, F., Tenbrock, P., Pott, A., & Seel, T. (2019). A transferable force controller based on prescribed performance for contact establishment in robotic assembly tasks∗. In IEEE International Conference on Automation Science and Engineering (pp. 830-835). Vancouver, BC, CA: IEEE Computer Society.

MLA:

Halt, Lorenz, et al. "A transferable force controller based on prescribed performance for contact establishment in robotic assembly tasks∗." Proceedings of the 15th IEEE International Conference on Automation Science and Engineering, CASE 2019, Vancouver, BC IEEE Computer Society, 2019. 830-835.

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