Top

Published in:

2018 | OriginalPaper | Chapter

Implementation of the Adaptive Control Algorithm for the KUKA LWR 4+ Robot

Author : Łukasz Woliński

Published in: Dynamical Systems in Theoretical Perspective

Publisher: Springer International Publishing

Activate our intelligent search to find suitable subject content or patents.

search-config

AI-assisted search

Off

Abstract

Model-based control methods are very attractive in the field of robotics as their tracking performance can exceed the classical controllers (such as the independent joint PID controllers). Using the dynamic model of the manipulator, however, requires detailed knowledge about the manipulator’s dynamic parameters such as link masses and inertias or joint friction properties. These parameters are not always easily identifiable and, to some degree, might vary between robots of one kind (e.g. slight differences in masses/inertias) or during the robot operation (e.g. friction changes related to the temperature). Thus, the identified model might not always be suitable for the desired control tasks. A possible method to overcome the aforementioned problems is to use the adaptive control scheme. In that approach, the parameters of the model are constantly updating their values in real-time to assure good tracking performance. This paper deals with the implementation of such an adaptive controller for the KUKA LWR 4+ robot. Using the KUKA’s communication protocols, a C++ implementation of the outer-loop adaptive controller (which feeds the KUKA controller with the desired joint torques) was created and its quality evaluated.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

über 102.000 Bücher
über 537 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Finance + Banking
Management + Führung
Marketing + Vertrieb
Maschinenbau + Werkstoffe
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 390 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Maschinenbau + Werkstoffe

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 340 Zeitschriften

aus folgenden Fachgebieten:

Bauwesen + Immobilien
Business IT + Informatik
Finance + Banking
Management + Führung
Marketing + Vertrieb
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

previous chapter Stokes Flow Through a Tube with Wavy Wall

next chapter Vibrations of a Multi-span Beam Subjected to a Moving Stochastic Load

Awrejcewicz, J., Olejnik, P.: Stick-slip dynamics of a two-degree-of-freedom system. Int. J. Bifurcation Chaos 13(04), 843–861 (2003). URL https://www.worldscientific.com/doi/abs/10.1142/S0218127403006960

Bargsten, V., Zometa, P., Findeisen, R.: Modeling, parameter identification and model-based control of a lightweight robotic manipulator. In: 2013 IEEE International Conference on Control Applications (CCA), pp. 134–139 (2013). https://doi.org/10.1109/CCA.2013.6662756

Bischoff, R., Kurth, J., Schreiber, G., Koeppe, R., Albu-Schaeffer, A., Beyer, A., Eiberger, O., Haddadin, S., Stemmer, A., Grunwald, G., Hirzinger, G.: The KUKA-DLR lightweight robot arm – a new reference platform for robotics research and manufacturing. In: ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics), pp. 1–8 (2010)

Bottero, A., Gerio, G., Perna, V., Gagliano, A.: Adaptive control techniques and feed forward compensation of periodic disturbances in industrial manipulators. In: 2014 IEEE/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications (MESA), pp. 1–7 (2014). https://doi.org/10.1109/MESA.2014.6935612

Brahmi, B., Saad, M., Ochoa-Luna, C., Rahman, M.H.: Adaptive control of an exoskeleton robot with uncertainties on kinematics and dynamics. In: 2017 International Conference on Rehabilitation Robotics (ICORR), pp. 1369–1374, (2017). https://doi.org/10.1109/ICORR.2017.8009439

Flacco, F., De Luca, A.: Discrete-time redundancy resolution at the velocity level with acceleration/torque optimization properties. Rob. Autonomous Syst. 70, 191–201 (2015). https://doi.org/10.1016/j.robot.2015.02.008, URL http://www.sciencedirect.com/science/article/pii/S0921889015000329

Gaz, C., Flacco, F., Luca, A.D.: Identifying the dynamic model used by the KUKA LWR: a reverse engineering approach. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 1386–1392 (2014). https://doi.org/10.1109/ICRA.2014.6907033

Gaz, C., Flacco, F., Luca, A.D.: Extracting feasible robot parameters from dynamic coefficients using nonlinear optimization methods. In: 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 2075–2081, (2016) https://doi.org/10.1109/ICRA.2016.7487356

Hao, J., Tao, G., Rugthum, T.: A dynamic prediction error based adaptive multiple-model control scheme for robotic manipulators. In: 2017 American Control Conference (ACC), pp. 1791–1796 (2017). https://doi.org/10.23919/ACC.2017.7963212

10.

Hayat, R., Buss, M.: Model identification for robot manipulators using regressor-free adaptive control. In: 2016 UKACC 11th International Conference on Control (CONTROL), pp. 1–7 (2016). https://doi.org/10.1109/CONTROL.2016.7737544

11.

Jubien, A., Gautier, M., Janot, A.: Dynamic identification of the Kuka LightWeight robot: comparison between actual and confidential KUKA’s parameters. In: Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics 2014, Besancon, France, pp. 483–488 (2014)

12.

Kalman, R.E.: A new approach to linear filtering and prediction problems. J. Basic Eng. 82(1), 35–45 (1960)CrossRef

13.

Kawasaki, H., Bito, T., Kanzaki, K.: An efficient algorithm for the model-based adaptive control of robotic manipulators. IEEE Trans. Rob. Autom. 12(3), 496–501 (1996)CrossRef

14.

Kelly, J., Davila, V.S., Loría, A.: Control of Robot Manipulators in Joint Space. Springer, London (2005)

15.

Kröger, T.: Fast Research Interface Library. http://cs.stanford.edu/people/tkr/fri/html/annotated.html (2014). online; Accessed: 25 Apr (2017)

16.

KUKA (06.07.2010) Lightweight Robot 4+ Specification, Version: Spez LBR 4+ V2en

17.

Lewis, F.W., Dawson, D.M., Abdallah, C.T.: Robot Manipulator Control: Theory and Practice. CRC Press (2003)

18.

Li, J., Ma, H., Yang, C., Fu, M.: Discrete-time adaptive control of robot manipulator with payload uncertainties. In: 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), pp. 1971–1976 (2015) https://doi.org/10.1109/CYBER.2015.7288249

19.

Li, M., Li, Y., Ge, S.S., Lee, T.H.: Adaptive control of robotic manipulators with unified motion constraints. IEEE Trans. Syst.ems, Man, and Cyber.: Syst. 47(1), 184–194 (2017). https://doi.org/10.1109/TSMC.2016.2608969

20.

Olejnik, P., Awrejcewicz, J., Fečkan, M.: Modeling. With Friction and Impacts. World Scientific Publishing Company, Analysis and Control of. Dynamical Systems (2017). https://doi.org/10.1142/10577CrossRef

21.

Rodriguez, G., Jain, A., Kreutz-Delgado, K.: Spatial operator algebra for manipulator modelling and control. Int. J. Rob. Res. 10(4), 371–381 (1991)CrossRef

22.

Schreiber, G., Stemmer, A., Bischoff, R.: The fast research interface for the KUKA lightweight robot. In: Proceedings of the IEEE ICRA 2010 Workshop on ICRA 2010 Workshop on Innovative Robot Control Architectures for Demanding (Research) Applications – How to Modify and Enhance Commercial Controllers, pp. 15–21 (2010)

23.

Siciliano, B., Khatib, O. (eds.): Springer Handbook of Robotics. Springer International Publishing (2016). https://doi.org/10.1007/978-3-319-32552-1

24.

Slotine, J.J.E., Bito, T., Li, W.: On the adaptive control of robot manipulators. Int. J. Rob. Res. 6(3), 49–59 (1987)CrossRef

25.

Spong, M.W., Hutchinson, S., Vidyasagar, M.: Robot Modeling and Control. Wiley (2006)

26.

Swevers, J., Ganseman, C., Tukel, D.B., De Schutter, J., Van Brussel, H.: Optimal robot excitation and identification. IEEE Trans. Rob. Autom. 13(5), 730–740 (1997)CrossRef

27.

Swevers, J., Verdonck, W., De Schutter, J.: Dynamic model identification for industrial robots. IEEE Control Syst. 27(5), 58–71 (2007)MathSciNetCrossRef

28.

Woliński, L., Malczyk, P.: Dynamic modeling and analysis of a lightweight robotic manipulator in joint space. Arch. Mechanical Eng. 62(2), 279–302 (2015). http://dx.doi.org/10.1515/meceng-2015-0016, https://doi.org/10.1023/A:1021909032551

29.

Woliński, L., Wojtyra, M.: Comparison of dynamic properties of two LWR 4+ robots. In: ROMANSY 21 - Robot Design, Dynamics and Control. Proceedings of the 21st CISM-IFToMM Symposium, vol. 569, pp. 413–420 (2016) https://doi.org/10.1007/978-3-319-33714-2

Title: Implementation of the Adaptive Control Algorithm for the KUKA LWR 4+ Robot
Author: Łukasz Woliński
Publisher: Springer International Publishing
Book: Dynamical Systems in Theoretical Perspective
Print ISBN: 978-3-319-96597-0

Electronic ISBN: 978-3-319-96598-7

Copyright Year: 2018
DOI: https://doi.org/10.1007/978-3-319-96598-7_31

Springer Professional

Abstract

Please log in to get access to your license.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Springer Professional "Technik"

Springer Professional "Wirtschaft"

Premium Partners