scholarly journals Research on Foot Force Control of Quadruped Robot Based on Impedance Control

2016 ◽  
Vol 05 (04) ◽  
pp. 121-128
Author(s):  
庆鹏 丁
Keyword(s):  
Force Control ◽  
Impedance Control ◽  
Quadruped Robot ◽  
Foot Force

scholarly journals Suppress Vibration on Robotic Polishing with Impedance Matching

Actuators ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 59
Author(s):  
Junjie Dai ◽  
Chin-Yin Chen ◽  
Renfeng Zhu ◽  
Guilin Yang ◽  
Chongchong Wang ◽  
...  
Keyword(s):  
Contact Force ◽  
Force Control ◽  
Impedance Control ◽  
Impedance Matching ◽  
Industrial Robots ◽  
Contact Phase ◽  
Dynamic Tracking ◽  
Force Tracking ◽  
The Difference ◽  
End Effectors

Installing force-controlled end-effectors on the end of industrial robots has become the mainstream method for robot force control. Additionally, during the polishing process, contact force stability has an important impact on polishing quality. However, due to the difference between the robot structure and the force-controlled end-effector, in the polishing operation, direct force control will have impact during the transition from noncontact to contact between the tool and the workpiece. Although impedance control can solve this problem, industrial robots still produce vibrations with high inertia and low stiffness. Therefore, this research proposes an impedance matching control strategy based on traditional direct force control and impedance control methods to improve this problem. This method’s primary purpose is to avoid force vibration in the contact phase and maintain force–tracking performance during the dynamic tracking phase. Simulation and experimental results show that this method can smoothly track the contact force and reduce vibration compared with traditional force control and impedance control.

HYBRID POSITION/FORCE CONTROL OF THE PLANAR TROTTING QUADRUPED ROBOT

2015 ◽  
Author(s):  
YIZHANG LIU ◽  
JIAN WANG ◽  
LIN LANG ◽  
HONGXU MA
Keyword(s):  
Force Control ◽  
Quadruped Robot

A Trot and Flying Trot Control Method for Quadruped Robot Based on Optimal Foot Force Distribution

2019 ◽  
Vol 16 (4) ◽  
pp. 621-632 ◽  
Author(s):  
Teng Chen ◽  
Xiaobo Sun ◽  
Ze Xu ◽  
Yibin Li ◽  
Xuewen Rong ◽  
...  
Keyword(s):  
Control Method ◽  
Quadruped Robot ◽  
Force Distribution ◽  
Foot Force

Position-based impedance force controller with sensorless force estimation

2019 ◽  
Vol 39 (3) ◽  
pp. 489-496 ◽  
Author(s):  
Jianjun Yuan ◽  
Yingjie Qian ◽  
Liming Gao ◽  
Zhaohan Yuan ◽  
Weiwei Wan
Keyword(s):  
Real Time ◽  
External Force ◽  
Force Control ◽  
Impedance Control ◽  
Surface Shape ◽  
Force Estimation ◽  
Shape Information ◽  
Content Type ◽  
Generalized Inverse Matrix ◽  
Surface Prediction

Purpose This paper aims to purpose an improved sensorless position-based force controller in gravitational direction for applications including polishing, milling and deburring. Design/methodology/approach The first issue is the external force/torque estimation at end-effector. By using motor’s current information and Moore-Penrose generalized inverse matrix, it can be derived from the external torques of every joints for nonsingular cases. The second issue is the force control strategy which is based on position-based impedance control model. Two novel improvements were made to achieve a better performance. One is combination of impedance control and explicit force control. The other one is the real-time prediction of the surface’s shape allowing the controller adaptive to arbitrary surfaces. Findings The result of validation experiments indicates that the estimation of external force and prediction of surface’s shape are credible, and the position-based constant contact force controller in gravitational direction is functional. The accuracy of force tracking is adequate for targeted applications such as polishing, deburring and milling. Originality/value The value of this paper lies in three aspects which are sensorless external force estimation, the combination of impedance control and explicit force control and the independence of surface shape information achieved by real-time surface prediction.

scholarly journals Mechanical Design and Control of 3-DOF Active Scanning Probe Using Parallel Link Mechanism

2011 ◽  
Vol 5 (2) ◽  
pp. 86-90 ◽  
Author(s):  
Takashi Harada ◽  
◽  
Ke Dong ◽  
Keyword(s):  
Optimum Design ◽  
Force Control ◽  
Impedance Control ◽  
Numerical Control ◽  
Scanning Probe ◽  
Position Sensing ◽  
End Plate ◽  
Link Mechanism ◽  
Parallel Link ◽  
Active Scanning

A 3-DOF active scanning probe using a Parallel Link Mechanism (PLM) is proposed. It employs a small touching force control and can be used for small position sensing devices which works within sizes of few millimeters. The device is attached to the tip of coordinate measuring machines or numerical-control machine tools and used as a scanning probe. In this paper, the characteristics of the mechanism, optimum design, and a control system of the PLM are introduced. The kinematics and differential relations of the PLM are derived. An optimum design for the PLM is proposed as that in which the mechanism’s manipulability is equal in all directions. This implies that the force and position sensitivities of the PLM share an isotropic relationship. A prototype of the PLM is developed. The PLM is constructed on three voice coil motors that are vertically aligned on a base plate, and a sensing stylus is fixed on an end plate. Universal joints with ball bearings are developed for reducing the joint resistance. Position and force control methods for the scanning probe are introduced. For stable scanning motion, a disturbance observer-based mechanical impedance control is formulated. An experimental system for measuring the position of the probe using image processing is developed. It is found that the standard deviation of the positioning error along the z direction is less than 3 µm, whereas those along the x and y directions is larger because of the tilt of the end plate caused by alignment errors of the PLM’s mechanical parts.

Real-time Motion Control of Humanoid for Skating Motion by Foot Force Control

2016 ◽  
Vol 2016 (0) ◽  
pp. 2A1-12a6
Author(s):  
Noriaki TAKASUGI ◽  
Kunio KOJIMA ◽  
Ryo TERASAWA ◽  
Tatsuya ISHIKAWA ◽  
Shunichi NOZAWA ◽  
...  
Keyword(s):  
Real Time ◽  
Motion Control ◽  
Force Control ◽  
Foot Force ◽  
Time Motion

scholarly journals Automatic presser‐foot force control for industrial sewing machines

2012 ◽  
Vol 24 (1) ◽  
pp. 36-55 ◽  
Author(s):  
Helder Carvalho ◽  
Luís F. Silva ◽  
Ana Rocha ◽  
João Monteiro
Keyword(s):  
Force Control ◽  
Foot Force
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