University of Twente Student Theses


Experimental evaluation of a safety aware impedance controller design

Weijers, F. (2015) Experimental evaluation of a safety aware impedance controller design.

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Abstract:During this master project the proposed safety aware impedance controller of Tadele et al. (2014b) has been evaluated experimentally. This controller is designed to be used on the Phillips Robotic Arm (PRA) used during the BOBBIE project. Within in this project a controller is requested which is able to safely interact with its environment. To test the proposed controller, the robotic arm of the KUKA youBOT is used. This manipulator is also able to perform different tasks in multiple degrees of freedom, like the PRA, however, it is better suited as a test platform. Two different joints of the KUKA youBOT are used during the experiment to first obtain measurements in joint space by using the one degree of freedom implementation. After these measurement the controller is evaluated using the proposed controller in cartesian space. During the experiment it was noticed that the controller was suffering from the available friction in the joints, therefore a plant compensation controller is designed to compensate for this friction. The performed experiments have shown that the controller remains stable while the control parameters are changed to maintain the desired power and energy limits. By adding the plant compensation controller the friction was compensated however, this interferes with the passivity of the controlled system. Therefore it will be advised to partially compensate for friction such that no overcompensation occurs.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:50 technical science in general
Programme:Systems and Control MSc (60359)
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