Robotic arms have become increasingly popular and widely used in various industrial applications. However, conventional control methods are not capable of adequately controlling a robotic arm in tasks that require contact with a surface. To address this issue, this study proposes a Cartesian impedance control method to control a 3-DOF robotic arm in real-time during contact with a surface. The proposed controller consists of two control loops: an inner loop and an outer loop. The inner loop utilizes a motion control method in the joint space, with the parameters of the controller being calculated through system identification. The outer loop implements Cartesian impedance control in the Cartesian space using a mass-spring-damper model. The coefficients of the Cartesian impedance control were determined based on the over-damped response with real-time applications. By selecting the inner loop in the joint space and the outer loop in the Cartesian space, the control of the robotic arm is guaranteed. The proposed method was tested in real-time, and its performance was compared with the PID with gravity compensation control in the Cartesian space. The results indicated that the proposed method was able to successfully follow reference trajectories and reduce the contact force.
Beyhan, A., & Gokhan Adar, N. (2023). Modeling and Real-Time Cartesian Impedance Control of 3-DOF Robotic Arm in Contact with the Surface. Scientia Iranica, (), -. doi: 10.24200/sci.2023.59242.6157
MLA
Ayberk Beyhan; Nurettin Gokhan Adar. "Modeling and Real-Time Cartesian Impedance Control of 3-DOF Robotic Arm in Contact with the Surface". Scientia Iranica, , , 2023, -. doi: 10.24200/sci.2023.59242.6157
HARVARD
Beyhan, A., Gokhan Adar, N. (2023). 'Modeling and Real-Time Cartesian Impedance Control of 3-DOF Robotic Arm in Contact with the Surface', Scientia Iranica, (), pp. -. doi: 10.24200/sci.2023.59242.6157
VANCOUVER
Beyhan, A., Gokhan Adar, N. Modeling and Real-Time Cartesian Impedance Control of 3-DOF Robotic Arm in Contact with the Surface. Scientia Iranica, 2023; (): -. doi: 10.24200/sci.2023.59242.6157