Robot skills - Modeling and control aspects

Tapio Heikkilä; Jari M. Ahola

doi:10.1109/MESA.2018.8449184

Robot skills - Modeling and control aspects

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

3 Citations (Scopus)

Abstract

This paper considers robot control and programming from modelling point of view: re-usable robot operations are modelled as skills, which integrate and synchronize robot actions and sensor data in a consistent way. We put focus on contact motions and their programming and have the basis on parametrized impedance control. The characteristic of impedance controlled motions, i.e., effects of speed and environment changes to resulting forces, are studied in details by modelling and practical tests. With appropriate parameter settings a variety of tasks and skills with contact motions can be established relying on the same force/torque control strategy.

Original language	English
Title of host publication	2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018
Publisher	IEEE Institute of Electrical and Electronic Engineers
ISBN (Electronic)	978-1-5386-4642-7, 978-1-5386-4643-4
ISBN (Print)	978-1-5386-4644-1
DOIs	https://doi.org/10.1109/MESA.2018.8449184
Publication status	Published - 27 Aug 2018
MoE publication type	Not Eligible
Event	14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018 - Oulu, Finland Duration: 2 Jul 2018 → 4 Jul 2018

Conference

Conference	14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018
Country/Territory	Finland
City	Oulu
Period	2/07/18 → 4/07/18

Keywords

impedance control
model
Robot skill

Access to Document

10.1109/MESA.2018.8449184

Cite this

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title = "Robot skills - Modeling and control aspects",

abstract = "This paper considers robot control and programming from modelling point of view: re-usable robot operations are modelled as skills, which integrate and synchronize robot actions and sensor data in a consistent way. We put focus on contact motions and their programming and have the basis on parametrized impedance control. The characteristic of impedance controlled motions, i.e., effects of speed and environment changes to resulting forces, are studied in details by modelling and practical tests. With appropriate parameter settings a variety of tasks and skills with contact motions can be established relying on the same force/torque control strategy.",

keywords = "impedance control, model, Robot skill",

author = "Tapio Heikkil{\"a} and Ahola, {Jari M.}",

note = "Funding Information: This work has been funded by Business Finland and VTT Ltd. Funding Information: ACKNOWLEDGMENT This work was carried out in the X4-Man project, funded by the Business Finland and VTT. The authors would like to thank Mr Tuomas Sepp{\"a}l{\"a} from VTT for supporting the practical tests. Publisher Copyright: {\textcopyright} 2018 IEEE. Copyright: Copyright 2018 Elsevier B.V., All rights reserved.; 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018 ; Conference date: 02-07-2018 Through 04-07-2018",

year = "2018",

month = aug,

day = "27",

doi = "10.1109/MESA.2018.8449184",

language = "English",

isbn = "978-1-5386-4644-1",

booktitle = "2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018",

publisher = "IEEE Institute of Electrical and Electronic Engineers",

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}

Heikkilä, T & Ahola, JM 2018, Robot skills - Modeling and control aspects. in 2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018., 8449184, IEEE Institute of Electrical and Electronic Engineers, 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018, Oulu, Finland, 2/07/18. https://doi.org/10.1109/MESA.2018.8449184

Robot skills - Modeling and control aspects. / Heikkilä, Tapio; Ahola, Jari M.
2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018. IEEE Institute of Electrical and Electronic Engineers, 2018. 8449184.

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

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AU - Ahola, Jari M.

N1 - Funding Information: This work has been funded by Business Finland and VTT Ltd. Funding Information: ACKNOWLEDGMENT This work was carried out in the X4-Man project, funded by the Business Finland and VTT. The authors would like to thank Mr Tuomas Seppälä from VTT for supporting the practical tests. Publisher Copyright: © 2018 IEEE. Copyright: Copyright 2018 Elsevier B.V., All rights reserved.

PY - 2018/8/27

Y1 - 2018/8/27

N2 - This paper considers robot control and programming from modelling point of view: re-usable robot operations are modelled as skills, which integrate and synchronize robot actions and sensor data in a consistent way. We put focus on contact motions and their programming and have the basis on parametrized impedance control. The characteristic of impedance controlled motions, i.e., effects of speed and environment changes to resulting forces, are studied in details by modelling and practical tests. With appropriate parameter settings a variety of tasks and skills with contact motions can be established relying on the same force/torque control strategy.

AB - This paper considers robot control and programming from modelling point of view: re-usable robot operations are modelled as skills, which integrate and synchronize robot actions and sensor data in a consistent way. We put focus on contact motions and their programming and have the basis on parametrized impedance control. The characteristic of impedance controlled motions, i.e., effects of speed and environment changes to resulting forces, are studied in details by modelling and practical tests. With appropriate parameter settings a variety of tasks and skills with contact motions can be established relying on the same force/torque control strategy.

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KW - model

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M3 - Conference article in proceedings

AN - SCOPUS:85053907091

SN - 978-1-5386-4644-1

BT - 2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018

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Y2 - 2 July 2018 through 4 July 2018

ER -

Robot skills - Modeling and control aspects

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