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Erickson
M. Weber
I. Sharf
Department of Mechanical Engineering
McGill University
Montreal, PQ Canada
inna.sharf@mcgill.ca
Abstract
In this paper, we review and compare four algorithms for the identification of contact stiffness and damping during robot constrained
motion. The intended application is dynamics modeling and simulation of robotic assembly operations in space. Accurate simulation
of these tasks requires contact dynamics models, which in turn use
contact stiffness and damping to calculate contact forces. Hence,
our primary interest in identifying contact parameters stems from
their use as inputs to simulation software with contact dynamics capability. Estimates of environmental stiffness and damping are also
valuable for force tracking and stability of impedance controllers.
The algorithms considered in this work include: a signal processing
method, an indirect adaptive controller with modifications to identify
environment damping, a model reference adaptive controller and a
recursive least-squares estimation technique. The last three methods
have been proposed for real-time implementation in impedance and
force-tracking controllers. The signal processing scheme uses a frequency estimate calculated with fast Fourier transform of the force
signal and is an off-line method. The algorithms are first evaluated
using numerical simulation of a benchmark test. Experiments conducted with a robotic arm contacting a flexible wall provide a further
demonstration of their performance. Our results indicate that the indirect adaptive controller has the best combination of performance
and ease of use. In addition, the effect of persistently exciting signals
is discussed.
KEY WORDScontact parameters, identification, estimation, contact dynamics, environment stiffness and damping,
impedance control, adaptive control, recursive least-squares
1. Introduction
Robotic tasks can be classified into two categories: unconstrained and constrained motion. Unconstrained motion occurs when the manipulator is instantaneously free to move in
The International Journal of Robotics Research
Vol. 22, No. 1, January 2003, pp. 41-57,
2003 Sage Publications
Contact Stiffness
and Damping
Estimation for
Robotic Systems
(1)
42
(2)
(3)
(4)
Fn = Ke + Be .
(5)
In the above, the contact parameters, stiffness Ke and damping Be , relate the local deformation and its rate to the normal
N
i=1
i ni + B e
N
i=1
i ni +
N
Fti ti ,
(6)
i=1
(7)
43
44
Kt + K e
(12)
(8)
Beq
Meq
=
=
Bt + B e
Mt .
(13)
(14)
n Ts
= 0.05,
Ts =
2.996
n
(9)
2.996 1 2
#cycles =
.
(10)
2
From the above, the damping ratio is obtained as
=
0.4768
#cycles + 0.2274
2
(11)
In terms of these parameters, the natural frequency and damping ratio are given by
Keq
d
n =
=
(15)
2
Meq
1
Beq
.
2 Keq Meq
(16)
With the values for d and determined from the force response and equations (12)(16), we obtain the environment
stiffness and damping in terms of the known values:
Ke
Be
n2 Mt Kt
2 (Kt + Ke )Mt Bt .
(17)
(18)
The indirect adaptive controller proposed by Seraji and Colbaugh (1997) was intended to achieve force tracking within
impedance control. This implies that the measured force (Fe )
should converge to a desired reference force (Fr ). To achieve
this goal, a trajectory generator was developed which modified the reference trajectory (xr ) on-line, during the contact.
The algorithm uses estimates of the environment stiffness and
location (K e , xe ) to calculate xr in the impedance control law
(1) from
xr = xe +
1
Fr
K e
1
Fr .
K e
(19)
(20)
(21)
F = xe x, x
= T .
(22)
B e
Subtracting eq. (3) from eq. (22) yields
F = T
45
(23)
where F = F Fe and = .
The adaptation law can be formed using a Lyapunov technique (Slotine and Li 1991) by defining the energy function
V , where is a positive definite matrix:
V = T .
(24)
(25)
it can be shown, using eqs. (24) and (25), that the derivative
of the energy function is
V = 2 T T
which is negative definite in terms of provided
In T dt In
for 0 < < .
(26)
(27)
46
The state dynamics are driven by the model-following control law which involves state feedback (x, x)
and an appropriately chosen auxiliary signal. The virtual trajectory dynamics
are specified by the user, and this signal must be persistently
exciting to ensure convergence of the model-matching parameters (Singh and Popa 1995). Furthermore, it is stated that
environment parameter convergence can be guaranteed if the
desired contact force is time-varying (persistently exciting).
The experimental results presented by Singh and Popa
show accurate estimation of the environment stiffness and
damping for a variety of environments. Simultaneously, a desired contact force is achieved.
2.4. Recursive Least Squares
Love and Book (1995) have successfully demonstrated that
contact stability can be improved if estimates of the environment impedance parameters are known. They modeled
the environment as a locally stationary massspringdamper
system:
Fe = Me x + Be x + Ke (x xe ).
(28)
By defining x = x xe and remembering that the environment is stationary (xe = xe = 0), eq. (28) can be rewritten
as
Fe = Me x + Be x + Ke x.
(29)
The above differs slightly from the equation used by Love and
Book (1995), but instead reflects the original work described
by An et al. (1988). The bilinear transformation is then used
to transform eq. (29) into its discrete-time counterpart
2
2
2
1 z1
Fe = Me
T
1 + z1
(30)
2
1 z1
+ Ke x
+ Be
T
1 + z1
2
2
=
Me
+ Be
+ Ke x[k]
T
T
2
2
x[k1]
+ 2 Ke Me
T
2
2
2
+ Ke x[k2]
+ Me
Be
T
T
3. The MRAC parameter estimator provides the adaptation law for system parameters that match the plant
model to the reference model.
4. The environment parameter estimator provides the
adaptation law for the environment stiffness and
damping.
(31)
47
(32)
x[k] xe
x[k1] xe
x[k2] xe
T
A B C
.
(33)
with
y[k]
[k]
[k]
(34)
(35)
The RLS solution for [k] takes the following form (Ljung
1987)
T
(36)
[k1]
[k] = [k1] + L[k] y[k] [k]
where
L[k]
P[k]
P[k1] [k]
T
+ [k]
P[k1] [k]
T
P[k1] [k] [k]
P[k1]
1
.
P[k1]
T
+ [k]
P[k1] [k]
(37)
(38)
The initial guess for the adaptation gain matrix P and the
weighting factor (0 1) must be specified by the user.
Once [k] has been calculated (and subsequently A, B, C), the
desired parameter estimates at the kth sample period can be
recovered using
2
1 T
T
Me =
(A + C B) , Be =
(A C) ,
4 2
4
Ke =
1
(A + B + C) .
4
(39)
The flexible wall represents a relatively simple environment designed specifically for our experiments as a first step
to evaluating the performance of different techniques. In particular, the flexible wall is attached to a set of linear bearings, and can thus translate in one direction. Behind the wall
are a set of coil springs and oil-filled dampers. These components are also modular, and can be added or removed to
change the mechanical impedance of the wall (see Figure 4).
For the benchmark test presented here, the stiffness of the
environment was defined by the two springs in parallel, with
the effective stiffness of Ke = 4800 N m1 . This represents
a relatively soft environmentthe choice made partially because of the limited accuracy of the wall displacement sensor.
In practical applications, we encounter much stiffer environments which makes the identification task more challenging.
The damping coefficients of the dampers are not accurately
known but are estimated to give approximate environment
damping of Be = 200 kg s1 .
48
0.7
Reference trajectory
Flexible wall
0.6
0.5
Fr = Fd + 8 sin(20t).
(40)
xr (m)
0.4
0.3
xr = xd + 0.02 sin(20t),
0.2
0.1
10
15
time (s)
(41)
where xd is the desired (reference) trajectory before the addition of persistent excitation. The amplitudes of these signals were chosen to give a good signal-to-noise ratio, while
remaining within the physical capabilities of the manipulator and environment. The frequency of the sinusoid is sufficiently far from zero while still within the bandwidth of the
manipulator.
When the choice of the excitation frequency is not evident or to increase the temporal bandwidth of the excitation,
a pseudo-random binary sequence (PRBS) can be used. This
signal resembles a square wave with a constant amplitude, but
has a randomly varying period (Landau et al. 1998). As such,
it has a constant spectral density over a broad bandwidth of
frequencies. Experimental results obtained with PRBS excitation are presented in Section 5.
The target impedance coefficients used in the indirect adaptive and RLS algorithms were chosen to be: Mt = 5 kg,
Bt = 100 kg s1 and Kt = 500 N m1 . These nominally
cause the manipulator-environment system to have a natural frequency of n = 10 rad s1 and critical damping. The
MRAC algorithm was found to be unstable during contact
when these target impedance values were used, so this algorithm was individually tuned, resulting in: Mt = 1 kg,
Bt = 650 kg s1 and Kt = 1e5 N m1 . Finally, to produce an
underdamped response for the signal processing method, we
used: Mt = 20 kg, Bt = 50 kg s1 and Kt = 2000 N m1 .
Each algorithm was given the same initial conditions for
the parameter estimates: K e[0] = 3000 N m1 and B e[0] =
50 kg s1 . Other initial guesses were also attempted with, overall, not significantly different outcomes. Note that, in practice,
the initial guess for environmental stiffness should error on
the soft side in order to avoid excessive transients in the contact forces. The adaptation gain matrix used in the indirect
and MRAC schemes was chosen through trial and error to
be = diag{5.0e4, 2.5e3}. The RLS scheme required an
initial value for P[0] = In , where is a large constant (Landau et al. 1998). For our simulations and experiments we set
P[0] = 105 In . The weighting factor (), which is often chosen to be slightly less than one, was set to = 0.98 (Landau
et al. 1998). Using these values, simulation and experimental results of the benchmark test were obtained both with and
without persistent excitation, as presented below.
49
4. Simulation Results
50
Stiffness (N/m)
8000
6000
Actual
4000
Indirect
MRAC
RLS
2000
0
10
15
time (s)
400
Damping (kg/s)
300
Actual
200
100
Indirect
MRAC
RLS
0
100
10
15
time (s)
Fig. 6. Simulation results of stiffness and damping estimation with sinusoidal excitation.
45
1600
Calculated force
5% bounds
40
1400
30
1200
25
1000
Magnitude
Force (N)
35
20
15
800
600
10
400
200
0
5
10.5
11
11.5
12
time (s)
10
20
30
Frequency (Hz)
40
50
51
10000
Stiffness (N/m)
8000
6000
Actual
4000
Indirect
MRAC
RLS
2000
0
10
15
time (s)
400
Damping (kg/s)
300
Actual
200
100
Indirect
MRAC
RLS
0
100
10
15
time (s)
Fig. 9. Simulation results of stiffness and damping estimation without persistent excitation.
5. Experimental Results
The simulation results presented above indicate that all four
algorithms are capable of accurate environment parameter
estimation. Using the signal processing method, acceptable
stiffness and damping estimation were possible without persistent excitation. For the indirect adaptive, MRAC and RLS
algorithms, stiffness estimation is very accurate either in
the presence or absence of persistent excitation, but reliable
damping estimation cannot be guaranteed without additional
excitation.
Experimental validation of the indirect adaptive, RLS and
signal processing algorithms was performed by implementing
the benchmark test on the Planar Robotics Testbed described
in Section 3. As demonstrated in simulations of Section 4, the
MRAC algorithm generated very similar parameter estimates
and responses to those of indirect adaptive method since the
two share identical parameter adaptation laws and gain matrices. At the same time, the indirect adaptive controller was
found to be intuitive and easily implemented, while the MRAC
52
0.6
0.5
xr (m)
0.4
0.3
IA trajectory
0.2
0.1
Wall
0
0.1
RLS trajectory
10
15
20
time (s)
Fig. 10. Reference trajectories used for the indirect adaptive and RLS experiments with sinusoidal excitation.
20
0
Force (N)
20
Indirect
RLS
40
60
80
100
10
time (s)
12
14
16
18
20
10
time (s)
12
14
16
18
20
x 10
Displacement (m)
0
2
Indirect
RLS
4
6
8
10
Fig. 11. Experimental profiles of force and wall deflection with sinusoidal excitation.
8000
Indirect
RLS
Stiffness (N/m)
7000
6000
Actual
5000
4000
3000
2000
10
time (s)
12
14
16
18
20
10
time (s)
12
14
16
18
20
400
Damping (kg/s)
Indirect
RLS
300
Actual
200
100
Fig. 12. Experimental results of stiffness and damping estimation with sinusoidal excitation.
53
54
20
Force (N)
0
20
40
60
80
Indirect
RLS
100
x 10
10
time (s)
15
20
25
Displacement (m)
0
2
4
6
8
10
Indirect
RLS
0
10
time (s)
15
20
25
Fig. 13. Experimental profiles for long contact maneuver of force and wall deflection with sinusoidal excitation.
10000
Indirect
RLS
Stiffness (N/m)
8000
6000
Actual
4000
2000
10
time (s)
15
20
25
Damping (kg/s)
400
300
Actual
200
100
Indirect
RLS
0
0
10
time (s)
15
20
25
Fig. 14. Experimental results for long contact maneuver of stiffness and damping estimation with sinusoidal excitation.
8000
Indirect
RLS
Stiffness (N/m)
7000
6000
Actual
5000
4000
3000
2000
10
time (s)
12
14
16
18
20
10
time (s)
12
14
16
18
20
400
Damping (kg/s)
Indirect
RLS
300
Actual
200
100
Fig. 15. Experimental results of stiffness and damping estimation with PRBS excitation.
10000
Stiffness (N/m)
Indirect
RLS
8000
6000
Actual
4000
2000
10
time (s)
15
20
25
400
Damping (kg/s)
Indirect
RLS
300
Actual
200
100
10
time (s)
15
20
25
Fig. 16. Experimental results for long contact maneuver of stiffness and damping estimation with PRBS excitation.
55
56
9000
Indirect
RLS
Stiffness (N/m)
8000
7000
6000
Actual
5000
4000
3000
2000
10
time (s)
12
14
16
18
20
10
time (s)
12
14
16
18
20
400
Damping (kg/s)
Indirect
RLS
300
Actual
200
100
Fig. 17. Experimental results of stiffness and damping estimation without persistent excitation.
6. Conclusions
The analysis and results presented in this paper are intended to
compare contact parameter identification algorithms. Specifically, a signal processing method, indirect adaptive controller,
MRAC controller and RLS estimator were used to determine
the stiffness and damping of the environment during robot
constrained motion. The signal processing method represents
an original contribution, while the remaining three schemes
have been proposed by other authors (Seraji and Colbaugh
1997; Singh and Popa 1995; Love and Book 1995). However,
substantial modifications were made to the original indirect
adaptive controller, and a proof of parameter convergence was
given.
The signal processing method uses frequency-domain and
time-domain information, and accordingly was implemented
off-line. It has one substantial advantage: only force measurements are required to extract the desired information. The
other three methods are time-domain algorithms and were implemented on-line. Their data requirements include the force,
deflection and, with the exception of RLS, velocity at the contact point. Accurate deflection or position measurements are
difficult in practice, but many identification methods in the
literature require it. In our future work, we will address this
issue by including environment location in the parameters to
be estimated.
References
An, C., Atkinson, C., and Hollerbach, J. 1988. Model-Based
Control of a Robot Manipulator. Cambridge, MA: MIT
Press.
Anderson, B., Bitmead, R., Johnson Jr, C., Kokotovic, P., Kosut, R., Mareels, M., Praly, L., and Riedle, B. 1986. Stability of Adaptive Systems: Passivity and Averaging Analysis.
Cambridge, MA: MIT Press.
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