scholarly journals Research and Ground Verification of the Force Compliance Control Method for Space Station Manipulator

2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Bingshan Hu ◽  
Huanlong Chen ◽  
Liangliang Han ◽  
Hongliu Yu
Keyword(s):  
Real Time ◽  
Contact Force ◽  
Control Algorithm ◽  
Control Method ◽  
Impedance Control ◽  
Space Station ◽  
Gravity Compensation ◽  
Compliance Control ◽  
Experiment Platform ◽  
Dual Arm

The space station manipulator does lots of tasks with contact force/torque on orbit. To ensure the safety of the space station and the manipulator, the contact force/torque of manipulator must be controlled. Based on analyzing typical tasks’ working flows and force control requirements, such as ORU (orbit replacement unit) changeout and dual arm collaborative payload transport, an impedance control method based on wrist 6 axis force/torque feedback is designed. For engineering implementation of the impedance control algorithm, the discretization method and impedance control parameters selection principle are also studied. To verify the compliance control algorithm, a ground experiment platform adopting industrial manipulators is developed. In order to eliminate the influence of gravity, a real-time gravity compensation algorithm is proposed. Then, the correctness of real-time gravity compensation and force compliance control algorithm is verified on the experiment platform. Finally, the ORU replacement and dual arm collaborative payload transport experiments are done. Experimental results show that the force compliance control method proposed in this paper can control the contact force and torque at the end of the manipulator when executing typical tasks.

Robot Manipulation Using Virtual Compliance Control

2000 ◽  
Vol 12 (5) ◽  
pp. 567-576 ◽  
Author(s):  
Hisaaki Hirabayashi ◽  
◽  
Koichi Sugimoto ◽  
Atsuko Enomoto ◽  
Ichirou Ishimaru ◽  
...  
Keyword(s):  
Real Time ◽  
Position Control ◽  
Control Method ◽  
Robot Manipulator ◽  
Impedance Control ◽  
Experimental Results ◽  
Velocity Control ◽  
Compliance Control ◽  
Robot Hands ◽  
Control Response

Experimental results proved that a unified method of impedance control, already presented as virtual compliance control, can make a robot manipulator without any special mechanism perform various patterns of motion, corresponding to the specified software parameters of the control method. Outcomes demonstrated are as follows. (1) The proposed control method can change the characteristics of spring constant and dashpot constant, that is impedance, of 6 degree of freedom (translational: 3 , rotational: 3) of the robot hand. (2) The change of characteristics mentioned above in (1) can be treated equivalently in both translational and rotational. (3) The change of characteristics mentioned above in (1) and (2) can be implemented in real time. (4) The proposed control method can change the characteristics of transient response in velocity control of 6-d.o.f. of the robot hands. (5) The change of characteristics mentioned above in (4) can be treated equivalently both translationally and rotationally. (6) The change of characteristics mentioned above in (4) and (5) can be implemented in real time. (7) The proposed control method can make impedance control applied to one axis, and position control applied to other axis simultaneously, as to 6-d.o.f. of the robot hands. (8) Experimental results mentioned above in (1) - (7) imply the following advantage and disadvantage; advantage: a unified control method that can perform various patterns of motion by specifying software parameters, disadvantage: control response is not necessarily precise that is because proposed control method is base on not dynamics but kinematics.

scholarly journals Design and Ground Verification of Space Station Manipulator Control Method for Orbital Replacement Unit Changeout

2018 ◽  
Vol 2018 ◽  
pp. 1-18 ◽  
Author(s):  
Bingshan Hu ◽  
Feng Chen ◽  
Liangliang Han ◽  
Huanlong Chen ◽  
Hongliu Yu
Keyword(s):  
Path Planning ◽  
Control Method ◽  
Impedance Control ◽  
Space Station ◽  
Open Loop ◽  
Control Algorithms ◽  
Experiment Platform ◽  
Planning Algorithm ◽  
Application Requirements ◽  
Path Planning Algorithm

Chinese space station has been in construction phase, and it will be launched around 2020. Lots of orbital replacement units (ORUs) are installed on the space station, and they need to be replaced on orbit by a manipulator. In view of above application requirements, the control method for ORU changeout is designed and verified in this paper. Based on the analysis of the ORU changeout task flow, requirements of space station manipulator’s control algorithms are presented. The open loop path planning algorithm, close loop path planning algorithm based on visual feedback, and impedance control algorithm are researched. To verify the ORU changeout task flow and corresponding control algorithms, a ground experiment platform is designed, which includes a 6-DOF manipulator with a camera and a force/torque sensor, an end effector with clamp/release and screwing function, ORU module, and ORU store. At last, the task flow and control algorithms are verified on the test platform. Through the research, it is found that the ORU changeout task flow designed in this paper is reasonable and feasible, and the control method can be used to control a manipulator to complete the ORU changeout task.

scholarly journals A model reference adaptive variable impedance control method for robot

2021 ◽  
Vol 336 ◽  
pp. 03005
Author(s):  
Xinchao Sun ◽  
Lianyu Zhao ◽  
Zhenzhong Liu
Keyword(s):  
Real Time ◽  
Tracking Control ◽  
Control Method ◽  
Impedance Control ◽  
Tracking Error ◽  
Reference Trajectory ◽  
Control Parameters ◽  
Model Reference ◽  
Force Tracking ◽  
Model Reference Adaptive

As a simple and effective force tracking control method, impedance control is widely used in robot contact operations. The internal control parameters of traditional impedance control are constant and cannot be corrected in real time, which will lead to instability of control system or large force tracking error. Therefore, it is difficult to be applied to the occasions requiring higher force accuracy, such as robotic medical surgery, robotic space operation and so on. To solve this problem, this paper proposes a model reference adaptive variable impedance control method, which can realize force tracking control by adjusting internal impedance control parameters in real time and generating a reference trajectory at the same time. The simulation experiment proves that compared with the traditional impedance control method, this method has faster force tracking speed and smaller force tracking error. It is a better force tracking control method.

Research on PCS Real-Time System Based on Integrated Control and Simulation

2015 ◽  
Vol 743 ◽  
pp. 164-167
Author(s):  
S. Liu ◽  
S.S. Shi ◽  
Z.W. Zhang ◽  
J.T. Chen ◽  
Z. Wang
Keyword(s):  
Real Time ◽  
Dynamic Process ◽  
Control Algorithm ◽  
Control Method ◽  
Integrated Control ◽  
Simulation Design ◽  
Time System ◽  
Real Time System ◽  
Time Simulation ◽  
And Control

The principle and control method of PCS circuit based on DSP2812 are introduced.The unified model of equations and simulation is built based on the topology of the circuit.The real-time simulation and directly generation of the control code is implemented using Embedded Coder of MATLAB toolbox.The integrated control and simulation design of control algorithm and dynamic process of PCS are implemented.

scholarly journals Adaptive Variable Parameter Impedance Control for Apple Harvesting Robot Compliant Picking

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-15 ◽  
Author(s):  
Ji Wei ◽  
Ding Yi ◽  
Xu Bo ◽  
Chen Guangyu ◽  
Zhao Dean
Keyword(s):  
Control System ◽  
Contact Force ◽  
Control Method ◽  
Impedance Control ◽  
Viscoelastic Model ◽  
Variable Parameter ◽  
Response Speed ◽  
Self Tuning ◽  
Impedance Parameters ◽  
Harvesting Robot

In order to reduce the damage of apple harvesting robot to fruits and achieve compliant picking, an adaptive variable parameter impedance control method for apple harvesting robot compliant picking is proposed in this paper. Firstly, the Burgers viscoelastic model is used to characterize the rheological properties of apples and study the variation of mechanical properties of apple grasping at different speeds. Then, a force-based impedance control system is designed. On this basis, aiming at the influence of impedance controller parameters on contact force, three impedance parameters self-tuning functions are constructed to complete the design of an improved force-based impedance control system based on the hyperbolic secant function. The simulation and experimental results show that the proposed control makes the desired force smoother, and its overshoot is about 2.3%. The response speed is faster, and the adjustment time of contact force is shorter of about 0.48 s. The contact force overshoot is about 2%, which is 37.5% less than that of the traditional force-based impedance control. This research improves the control performance for apple harvesting robot compliant picking.

Hybrid adaptive impedance-leader-follower control for multi-arm coordination manipulators

2016 ◽  
Vol 43 (1) ◽  
pp. 112-120 ◽  
Author(s):  
Xiangyu Liu ◽  
Ping Zhang ◽  
Guanglong Du
Keyword(s):  
Control Algorithm ◽  
Control Method ◽  
Hybrid Control ◽  
Impedance Control ◽  
Content Type ◽  
Control Framework ◽  
Coordination System ◽  
Error Accumulation ◽  
Arm Coordination ◽  
Multiple Manipulators

Purpose – The purpose of this paper is to provide a hybrid adaptive impedance-leader-follower control algorithm for multi-arm coordination manipulators, which is significant for dealing with the problems of kinematics inconsistency and error accumulation of interactive force in multi-arm system. Design/methodology/approach – This paper utilized a motion mapping theory in Cartesian space to establish a centralized dynamic leader-follower control algorithm which helped to reduce the possibility of kinematics inconsistency for multiple manipulators. A virtual linear spring model (VLSM) was presented based on a recognition approach of characteristic marker. This paper accomplished an adaptive impedance control algorithm based on the VLSM, which took into account the non-rigid contact characteristic. Experimentally demonstrated results showed the proposed algorithm guarantees that the motion and interactive forces asymptotically converge to the prescribed values. Findings – The hybrid control method improves the accuracy and reliability of multi-arm coordination system, which presents a new control framework for multiple manipulators. Practical implications – This algorithm has significant commercial applications, as a means of controlling multi-arm coordination manipulators that could serve to handle large objects and assemble complicated objects in industrial and hazardous environment. Originality/value – This work presented a new control framework for multiple coordination manipulators, which can ensure consistent kinematics and reduce the influence of error accumulation, and thus can improve the accuracy and reliability of multi-arm coordination system.

scholarly journals Optimal Fuzzy Impedance Control for a Robot Gripper Using Gradient Descent Iterative Learning Control in Fuzzy Rule Base Design

2020 ◽  
Vol 10 (11) ◽  
pp. 3821 ◽  
Author(s):  
Ba-Phuc Huynh ◽  
Yong-Lin Kuo
Keyword(s):  
Real Time ◽  
Iterative Learning Control ◽  
Control Method ◽  
Impedance Control ◽  
Learning Control ◽  
Iterative Learning ◽  
Rule Base ◽  
Control Approach ◽  
Robot Gripper ◽  
Gripping Force

This paper proposes a novel control approach for a robot gripper in which the impedance control, fuzzy logic control, and iterative learning control are combined in the same control schema. The impedance control is used to keep the gripping force at the desired value. The fuzzy impedance controller is designed to estimate the best impedance parameters in real time when gripping unknown objects. The iterative learning control process is employed to optimize the sample dataset for designing the rule base to enhance the effectiveness of the fuzzy impedance controller. Besides, the real-time gripping force estimator is designed to keep an unknown object from sliding down when picking it up. The simulation and experiment are implemented to verify the proposed method. The comparison with another control method is also made by repeating the experiments under equivalent conditions. The results show the feasibility and superiority of the proposed method.

scholarly journals Real-time Look-ahead Cruise Control Simulator

2017 ◽  
Vol 46 (1) ◽  
pp. 11 ◽  
Author(s):  
András Mihály ◽  
Balázs Németh ◽  
Péter Gáspár
Keyword(s):  
Real Time ◽  
Control Algorithm ◽  
Control Method ◽  
Hardware In The Loop ◽  
Heavy Duty ◽  
Cruise Control ◽  
Look Ahead ◽  
Heavy Duty Vehicle ◽  
Vehicle Simulator ◽  
Efficiency And Reliability

The paper introduces a hardware-in-the-loop (HIL) vehicle simulator built for testing and tuning a look-ahead cruise control algorithm considering forward road conditions. The aim of the vehicle simulator, apart from conducting real-time demonstrations and tests, is to create a HIL architecture which can be directly applied to a real heavy-duty vehicle formerly represented in TruckSim. By this means, several otherwise expensive road tests can be implemented with the simulator to increase the efficiency and reliability of the developed look-ahead control method.

scholarly journals Design of bionic active–passive hybrid-driven prosthesis based on gait analysis and simulation of compound control method

2021 ◽  
Vol 20 (1) ◽  
Author(s):  
Xinsheng Xu ◽  
Xiaoli Xu ◽  
Ying Liu ◽  
Kai Zhong ◽  
Haowei Zhang
Keyword(s):  
Real Time ◽  
Ankle Joint ◽  
Control Algorithm ◽  
Control Method ◽  
Real Time Control ◽  
Outer Loop ◽  
Time Control ◽  
Human Ankle ◽  
Motion Characteristics ◽  
Joint Prostheses

Abstract Purpose The purpose of this paper is to design a prosthetic limb that is close to the motion characteristics of the normal human ankle joint. Methods In this study, combined with gait experiments, based on a dynamic ankle joint prosthesis, an active–passive hybrid-driven prosthesis was designed. On this basis, a real-time control algorithm based on the feedforward compensation angle outer loop is proposed. To test the effectiveness of the control method, a multi-body dynamic model and a controller model of the prosthesis were established, and a co-simulation study was carried out. Results A real-time control algorithm based on the feedforward compensation angle outer loop can effectively realize the gait angle curve measured in the gait test, and the error is less than the threshold. The co-simulation result and the test result have a high close rate, which reflects the real-time nature of the control algorithm. The use of parallel springs can improve the energy efficiency of the prosthetic system. Conclusions Based on the motion characteristics of human ankle joint prostheses, this research has completed an effective and feasible design of active and passive ankle joint prostheses. The use of control algorithms improves the controllability of the active and passive ankle joint prostheses.

scholarly journals Dual-Arm Coordinated Control Strategy Based on Modified Sliding Mode Impedance Controller

Sensors ◽  
2021 ◽  
Vol 21 (14) ◽  
pp. 4653
Author(s):  
Xuefei Liu ◽  
Xiangrong Xu ◽  
Zuojun Zhu ◽  
Yanglin Jiang
Keyword(s):  
Control Strategy ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Impedance Control ◽  
Coordinated Control ◽  
Internal Force ◽  
Target Object ◽  
Stability And Convergence ◽  
Object A ◽  
Dual Arm

To meet the high-accuracy position/force control requirements of dual-arm robots for handling a target object, a control algorithm for dual-arm robots based on the modified sliding mode impedance controller MSMIC(tanh) is proposed. First, the combinative kinematics equation of the dual-arm robots and the unified dynamics model combining the manipulated object is established. Second, according to the impedance control motion model for the object, the desired joint angular accelerations of the manipulators are obtained, and the sliding mode controller based on the hyperbolic tangent function as the switch function is introduced to design the coordinated control strategy for dual-arm robots. The stability and convergence of the designed controller are proved according to the Lyapunov function theory. Finally, the operation tasks of the coordinated transport the target object for dual-arm robots are carried out in the simulated experiment environment. Simulation results show that the proposed control scheme can stably output the required internal force and achieve a high-precision trajectory tracking effect while reducing the periodic torque and joint chattering amplitude generated in the conventional sliding mode control algorithm.

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