CS545_Lecture_14 - CS545-Contents XIV Interaction Control...

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CS545—Contents XIV Interaction Control Compliance Impedance Force control Hybrid control Impedance control Sensors and Actuators Reading Assignment for Next Class See http://www-clmc.usc.edu/~cs545
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Problems of Interaction Control Equations of motion change: Closed loop kinematic chains Motion constraints imposed by the environment: Not all movement plans are feasible anymore What are the generalized coordinates? Planning and execution usually require very high accuracy if only motion control is performed Exact models of the robot are needed Exact models of the environment are needed Thus, somehow it is necessary to control the interaction forces
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Some Technical Terms Stiffness Proportionality constant k that relates a static displacement to the force due to this replacement Compliance Inverse of stiffness Active compliance (or stiffness) Controlled compliance in response to an external force, e.g., in order to keep the contact force at a certain limit (“actively giving in”) Passive compliance (or stiffness) Non-actuated (“internal”) tendency of a body to get displaced due to external forces (e.g., mechanical springiness) Impedance Dynamic response to an external force due to inertial, friction, and position terms, i.e., F = k Δ x m  x d + b e + ke = F where e = x d x
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CS545_Lecture_14 - CS545-Contents XIV Interaction Control...

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