Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Modelling and control of a macro-micro system using interaction controllers
Submission Author:
Gustavo Jose Giardini Lahr , SP
Co-Authors:
Gustavo Jose Giardini Lahr, Lucas Costa, Thiago Boaventura, Glauco Caurin
Presenter: Glauco Caurin
doi://10.26678/ABCM.COBEM2017.COB17-1068
Abstract
Macro-micro systems have many different implementations in robotics. It is especially important since it combines the characteristics of two different robots, reaching a new different configuration with a performance that would not be possible using the systems separately. However, the implementation of interaction controllers depends on the compliant behavior of the structures, sensors, tools and environment. This paper presents a macro-micro modeling and interaction controller implementation, using a Delta robot (micro) and a Kuka KR16 (macro). Both robots are controlled for stability. The Delta robot has significantly lower stiffness compared to the Kuka, leading to a different modeling from the usual impedance controller with industrial robots. Results are presented for compliance and impedance controllers, along one and two degrees-of-freedom. The architecture proposed is stable for interaction, where impedance control with higher damping factor presented an enhanced behavior.
Keywords
Robot modeling, Macro-micro systems, Interaction controller
