IEMEK Journal of Embedded Systems and Applications (대한임베디드공학회논문지)

Institute of Embedded Engineering of Korea (대한임베디드공학회)
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Variable Impedance Control for Industrial Manipulators Based on Sensor-Less External Force Estimator for CPPS

CPPS를 위한 산업용 매니플레이터의 힘 센서리스 외력 추정기 기반 적응 임피던스 제어

  • Received : 2019.09.07
  • Accepted : 2019.09.24
  • Published : 2019.10.31
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Abstract

This paper proposes a structure of a variable impedance control system based on sensor-less external force estimator of industrial manipulators for cyber physical production systems (CPPS). To implement CPPS, a feedback system is constructed by using the robot operating system (ROS) and an external force estimator which is designed to measure the external force applied to the manipulator without a force sensor. Based on the robot dynamics, the robot-human cooperating system for the cyber physics production system is implemented through a controller that changes the impedance characteristics of the manipulator according to the situation using the external force estimator. Simulation and experimental results verify the effectiveness of the proposed control system.

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References

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