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DINAME 2017
XVII International Symposium on Dynamic Problems of Mechanics
HARDWARE-IN-THE-LOOP OPTIMIZATION OF AN INTERACTION CONTROLLER FOR IMPROVED COUPLED DYNAMICS
Submission Author:
Gustavo Jose Giardini Lahr , SP
Co-Authors:
Gustavo Jose Giardini Lahr, Henrique Borges Garcia, Thiago Henrique Segreto Silva, Glauco Caurin
Presenter: Gustavo Jose Giardini Lahr
doi://10.26678/ABCM.DINAME2017.DIN17-0085
Abstract
This paper presents the implementation of an optimization method to find, without previous knowledge of the environment characteristics, the best interaction controller parameters in order to revamp the coupled dynamics. The objective of this achievement is to improve various industrial robot applications that involves mechanical contact. An enhanced contact is accomplished by lowering the following metrics: rise time, total variation and steady state error. Hence, the impedance controller was one of the interaction control techniques chosen to be optimized, since it is one of the most successful in its field. In the experiments, a contact is established between a Kuka KR16 robot TCP and an aluminum platform, where the force data was acquired by a 6 axis force-torque sensor located in the robot's end-effector. Using a hardware-in-the-loop optimization approach, the force feed-back is processed by the NSGA-II algorithm and new individuals are developed. Each individual of the GA represents specific impedance controller parameters and as the generations passes, these values get more suitable for diminishing the mentioned metrics. Also, the relationship between damping and rise time, rise time and total variation versus the controller' stiffness, and the forces over time are further discussed.
Keywords
Industrial robots, Impedance Control, Interaction control, Mechanical contact, Optimization
