Robust-Performance Approach to Impedance-Matching of Robots Interacting with Unknown Environments
There is a need to verify the functionality of robots performing contact tasks in harsh environments. The CSA technology provides a method for emulating a target robot operating in a complex environment with the use of an actual robot. The actual robot is used to replicate the dynamic behaviour of the target robot with respect to a payload and work site, without relying on complex contact dynamic calculations.
Control of the emulating robot is very challenging. It requires matching of the contact force frequency-response of the emulating robot with that of the actual robot, in addition to attenuating of the sensitivity to force sensor noise, while maintaining contact stability in spite of uncertain environmental impedance. In the CSA technology, the emulating robot is controlled by a real-time simulator in a control loop in order to replicate the dynamic behaviour of the target robot in its environment by matching the impedance of the emulating robot to that of the target robot.
This technology serves to optimally change the impedance of a robot to any desired complex impedance, while ensuring contact stability for a class of prescribed environments. Such an impedance control method can be applied to a high-fidelity emulating robot system where the objective is to assign a prescribed impedance to the emulating robot. Experiment results have demonstrated that this technology can achieve robust performance.
This technology can be used to verify the functionality of robots that are designed to operate in harsh environments, where such verification may be dangerous, expensive or simply not possible (as in space). Terrestrial applications may include nuclear and underwater environments. The technology also has potential for hydraulic robots (which are dynamically complex and very difficult to model mathematically) working in environments where the load changes unpredictably or where the working envelope is unknown beforehand. The invention permits the robot to be adaptable to environmental changes.
The Business Opportunity
The technology will be of interest to manufacturers of service robots operating in harsh environments, such as underwater robots, space manipulators or manipulators operating in nuclear power plants. The emulation technology may also be of interest to companies and research institutes that are developing medical robotics and wish to test the performance of their small robotic systems with a larger robot.
Technology Transfer Details
The technology is available for licensing.
The business opportunity may be referred to by its CSA case ID: 50748
- Aghili, F. and J.-C. Piedboeuf, "Emulation of Robots Interacting with Environment," Institute of Electrical and Electronics / American Society of Mechanical Engineers (IEEE/ASME), Transactions on Mechatronics, Vol. 11, No. 1, pp. 35–46, February 2006.
- Aghili, F. and M. Namvar, "A Robust Impedance Matching Scheme for Emulation of Robots," Institute of Electrical and Electronics Engineers (IEEE/RSJ), International Conference on Intelligent Robots and Systems, Sendai, Japan, Vol. 3, pp. 2142–2148, October 2004.
- Number: 2,521,554
- Status: Abandoned patent application
- Source: Canadian Intellectual Property Office (CIPO)
- Number: 7,688,016
- Status: Abandoned patent
- Source: United States Patent and Trademark Office (USPTO)
- Date modified: