Preliminary experiments in cooperative human/robot force control for robot assisted microsurgical manipulation

2002 ◽  
Author(s):  
R. Kumar ◽  
P. Berkelman ◽  
P. Gupta ◽  
A. Barnes ◽  
P.S. Jensen ◽  
...  
Keyword(s):  
Force Control ◽  
Robot Assisted ◽  
Robot Force Control

A Force Control Approach to a Robot-assisted Cell Microinjection System

2009 ◽  
Vol 29 (9) ◽  
pp. 1222-1232 ◽  
Author(s):  
Y. Xie ◽  
D. Sun ◽  
C. Liu ◽  
H.Y. Tse ◽  
S.H. Cheng
Keyword(s):  
Force Control ◽  
Robot Assisted ◽  
Control Approach

Neural Adaptive Approach-Application to Robot Force Control in an Unknown Environment

2006 ◽  
Vol 18 (5) ◽  
pp. 529-538 ◽  
Author(s):  
Yacine Amirat ◽  
◽  
Karim Djouani ◽  
Mohamed Kirad ◽  
Nadia Saadia ◽  
...  
Keyword(s):  
Force Control ◽  
Reference Model ◽  
Dynamic Properties ◽  
Parallel Robot ◽  
Smooth Transition ◽  
Environment Interaction ◽  
Adaptive Approach ◽  
Neural Network Controller ◽  
Interaction Dynamic ◽  
Robot Force Control

This paper presents an effective neural adaptive approach for robot force control with changing/unknown robot-environment interaction dynamic properties. In this approach, a multilayered neural network controller is trained at first off line from data collected during contact motion in order to perform a smooth transition from free to contact motion. Then, an adaptive process is implemented online through a desired impedance reference model such that the closed-loop system maintains a good performance and compensates for uncertain/unknown dynamics of the robot-environment interaction. The effectiveness of the proposed approach has been evaluated for the force control of a 6 DOF (Degree Of Freedom) C5-links parallel robot executing rectangular peg-in-hole insertions with weak tolerances. The experimental results demonstrate that the robot’s skill improves effectively and force control performances are good even if robot-environment interaction dynamic properties change.

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