Geometric Impedance Control on SE(3) for Robotic Manipulators

verfasst von

Joohwan Seo, Nikhil Potu Surya Prakash, Jongeun Choi, Roberto Horowitz, Alexander Rose

Abstract

After its introduction, impedance control has been utilized as a primary control scheme for robotic manipulation tasks that involve interaction with unknown environments. While impedance control has been extensively studied, the geometric structure of SE(3) for the robotic manipulator itself and its use in formulating a robotic task has not been adequately addressed. In this paper, we propose a differential geometric approach to impedance control. Given a left-invariant error metric in SE(3), the corresponding error vectors in position and velocity are first derived. We then propose the impedance control schemes that adequately account for the geometric structure of the manipulator in SE(3) based on a left-invariant potential function. The closed-loop stabilities for the proposed control schemes are verified using Lyapunov function-based analysis. The proposed control design clearly outperformed a conventional impedance control approach when tracking challenging trajectory profiles.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Externe Organisation(en)

University of California at Berkeley
Yonsei University

Typ

Konferenzaufsatz in Fachzeitschrift

Journal

IFAC-PapersOnLine

Band

56

Seiten

276-283

Anzahl der Seiten

8

Publikationsdatum

2023

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Steuerungs- und Systemtechnik

Elektronische Version(en)

https://doi.org/10.48550/arXiv.2211.07945 (Zugang: Offen)
https://doi.org/10.1016/j.ifacol.2023.10.1581 (Zugang: Offen)