Delay and stiffness dependent polytopic LPV modelling of impedance controlled robot interaction

József Kuti, Péter Galambos, Péter Baranyi

Research output: Chapter in Book/Report/Conference proceedingChapter

3 Citations (Scopus)

Abstract

Impedance/admittance control algorithms are considered as key technologies in human-robot interaction and other fields of advanced robotics where complex physical interaction plays role. In this chapter, we utilize a Tensor Product (TP) Model Transformation based method to derive the delay and stiffness dependent polytopic LPV representation of the impedance controlled physical interaction. The applied transformation method is feasible with bounded delay that is the non-linear function of the environmental stiffness. Thus, the ideal transformation space is nonrectangular that makes it improper for the TP model transformation. We propose a dimensionless parametrisation to define a rectangular grid upon witch the transformation is viable. The resulted model form is promptly appropriate for the modern multi-objective LMI based control design techniques.

Original languageEnglish
Title of host publicationIssues and Challenges of Intelligent Systems and Computational Intelligence
EditorsLaszlo T. Koczy, Claudiu R. Pozna, Janusz Kacprzyk
Pages163-174
Number of pages12
DOIs
Publication statusPublished - Feb 3 2014

Publication series

NameStudies in Computational Intelligence
Volume530
ISSN (Print)1860-949X

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Keywords

  • Admittance control
  • Haptics
  • Impedance control
  • Interaction robotics
  • LPV/qLPV modelling
  • Telemanipulation
  • Time delay systems

ASJC Scopus subject areas

  • Artificial Intelligence

Cite this

Kuti, J., Galambos, P., & Baranyi, P. (2014). Delay and stiffness dependent polytopic LPV modelling of impedance controlled robot interaction. In L. T. Koczy, C. R. Pozna, & J. Kacprzyk (Eds.), Issues and Challenges of Intelligent Systems and Computational Intelligence (pp. 163-174). (Studies in Computational Intelligence; Vol. 530). https://doi.org/10.1007/978-3-319-03206-1_12