EtherCAT-based Impedance Control of a 6-DOF Industrial Robotic Manipulator

2019 ◽  
Author(s):  
Ching-Chih Tsai ◽  
Feng-Chun Tai ◽  
Chun-An Lin ◽  
Chun-Chieh Chan
Keyword(s):  
Impedance Control ◽  
Robotic Manipulator

Simultaneous Learning of Robot Impedance Parameters Using Neural Networks

2007 ◽  
Vol 19 (1) ◽  
pp. 106-113
Author(s):  
Mutsuhiro Terauchi ◽  
◽  
Yoshiyuki Tanaka ◽  
Seishiro Sakaguchi ◽  
Nan Bu ◽  
...  
Keyword(s):  
Neural Networks ◽  
Computer Simulations ◽  
Impedance Control ◽  
Robotic Manipulator ◽  
Effective Control ◽  
Control Methods ◽  
Learning Method ◽  
Conventional Methods ◽  
Impedance Parameters ◽  
Virtual Impedance

Impedance control is one of the most effective control methods for interaction between a robotic manipulator and its environment. Robot impedance control regulates the response of the manipulator to contact and virtual impedance control regulates the manipulator's response before contact. Although these impedance parameters may be regulated using neural networks, conventional methods do not consider regulating robot impedance and virtual impedance simultaneously. This paper proposes a simultaneous learning method to regulate the impedance parameters using neural networks. The validity of the proposed method is demonstrated in computer simulations of tasks by a multi-joint robotic manipulator.

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