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2019 | OriginalPaper | Chapter

Hardware-in-the-Loop Optimization of an Interaction Controller for Improved Coupled Dynamics

Authors : Gustavo J. G. Lahr, Henrique B. Garcia, Thiago H. S. Silva, Glauco A. P. Caurin

Published in: Proceedings of DINAME 2017

Publisher: Springer International Publishing

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Abstract

This paper presents the implementation of an optimization method to find, without knowledge of the environment characteristics, the best interaction controller parameters to revamp the coupled dynamics. The objective 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 the interaction control technique chosen to be optimized. 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 feedback is processed by a NSGA-II algorithm. Each individual of the GA represents a specific impedance controller and as the generations passes, these values get more suitable for lowering the metrics. Results show convergence in 5 generations.

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Title: Hardware-in-the-Loop Optimization of an Interaction Controller for Improved Coupled Dynamics
Authors: Gustavo J. G. Lahr
Henrique B. Garcia
Thiago H. S. Silva
Glauco A. P. Caurin
Publisher: Springer International Publishing
Book: Proceedings of DINAME 2017
Print ISBN: 978-3-319-91216-5

Electronic ISBN: 978-3-319-91217-2

Copyright Year: 2019
DOI: https://doi.org/10.1007/978-3-319-91217-2_22

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