Hybrid Impedance Control of Massage Considering Dynamic Interaction of Human and Robot Collaboration Systems

2009 ◽  
Vol 21 (1) ◽  
pp. 146-155 ◽  
Author(s):  
Kazuhiko Terashima ◽  
◽  
Takanori Miyoshi ◽  
Keisuke Mouri ◽  
Hideo Kitagawa ◽  
...  
Keyword(s):  
Control System ◽  
Human Skin ◽  
Control Method ◽  
Impedance Control ◽  
Vertical Direction ◽  
Lateral Position ◽  
Robot Hand ◽  
Control Methods ◽  
Massage Therapist ◽  
Robot Perception

This paper proposes an intelligent massage control system that uses a multi-fingered robot hand with hybrid impedance control, which is able to recreate the movement and force of a human massage therapist. Therefore, various massage points, such as changes in the stiffness of human skin muscle, can be controlled by using an impedance control method. A hybrid impedance control, comprised of position-based and force-based control methods, was developed. The position-based impedance control is used to control the lateral position of massage on the human skin muscle. On the other hand, the force-based impedance control is used to control the force of the vertical direction on human skin muscle. This paper also identifies human skin muscle through robot perception of impedance to decide on the parameters of the impedance controller. A strategy using impedance control to implement an adaptive control system is presented, under the conditions of both soft and hard skin and muscle. The effectiveness of this massage control system using a multi-fingered robot hand with hybrid impedance control is demonstrated through realistic massage experiments involving pushing and rubbing motions.

scholarly journals Unified Switching between Active Flying and Perching of a Bioinspired Robot Using Impedance Control

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Shanshan Du ◽  
Heping Chen ◽  
Yong Liu ◽  
Runting Hu
Keyword(s):  
Animal Behavior ◽  
Position Control ◽  
Control Method ◽  
Impedance Control ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Control Methods ◽  
Prior Work ◽  
Control Approach ◽  
Three Dimensional Space

Currently, a bottleneck problem for battery-powered microflying robots is time of endurance. Inspired by flying animal behavior in nature, an innovative mechanism with active flying and perching in the three-dimensional space was proposed to greatly increase mission life and more importantly execute tasks perching on an object in the stationary way. In prior work, we have developed some prototypes of flying and perching robots. However, when the robots switch between flying and perching, it is a challenging issue to deal with the contact between the robot and environment under the traditional position control without considering the stationary obstacle and external force. Therefore, we propose a unified impedance control approach for bioinspired flying and perching robots to smoothly contact with the environment. The dynamic model of the bioinspired robot is deduced, and the proposed impedance control method is employed to control the contact force and displacement with the environment. Simulations including the top perching and side perching and the preliminary experiments were conducted to validate the proposed method. Both simulation and experimental results validate the feasibility of the proposed control methods for controlling a bioinspired flying and perching robot.

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.

scholarly journals Control System Design for Feeding Machine of Sound Absorption Board Production Line

2015 ◽  
Vol 9 (1) ◽  
pp. 388-394 ◽  
Author(s):  
Yanjun Xiao ◽  
He Zhang ◽  
Rui Liu ◽  
Yuxiang Liu ◽  
Yongcong Li
Keyword(s):  
Control System ◽  
Material Removal ◽  
Sound Absorption ◽  
Control Method ◽  
Control System Design ◽  
Control Methods ◽  
Production Lines ◽  
Automatic Production ◽  
Mechanical Structure ◽  
And Control

This paper introduces a kind of mechanical structure and its control system, with which granular materials can be put into mould with a higher leveling status, the mechanical structure adopts split type arrangement, its function is to achieve the material removal and scraping, its control system is composed of a plurality of Mitsubishi PLC using masterslave control method. The mechanism and control methods can be widely applied in automatic production lines, which needs granular material into the mould quantitatively and passively wiped flatly.

scholarly journals A Review of the Self-Adaptive Traffic Signal Control System Based on Future Traffic Environment

2018 ◽  
Vol 2018 ◽  
pp. 1-12 ◽  
Author(s):  
Yizhe Wang ◽  
Xiaoguang Yang ◽  
Hailun Liang ◽  
Yangdong Liu
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Control Method ◽  
Autonomous Driving ◽  
Signal Control ◽  
Traffic Signal Control ◽  
Control Methods ◽  
Adaptive Traffic Signal Control ◽  
Self Learning ◽  
Self Adaptive

The self-adaptive traffic signal control system serves as an effective measure for relieving urban traffic congestion. The system is capable of adjusting the signal timing parameters in real time according to the seasonal changes and short-term fluctuation of traffic demand, resulting in improvement of the efficiency of traffic operation on urban road networks. The development of information technologies on computing science, autonomous driving, vehicle-to-vehicle, and mobile Internet has created a sufficient abundance of acquisition means for traffic data. Great improvements for data acquisition include the increase of available amount of holographic data, available data types, and accuracy. The article investigates the development of commonly used self-adaptive signal control systems in the world, their technical characteristics, the current research status of self-adaptive control methods, and the signal control methods for heterogeneous traffic flow composed of connected vehicles and autonomous vehicles. Finally, the article concluded that signal control based on multiagent reinforcement learning is a kind of closed-loop feedback adaptive control method, which outperforms many counterparts in terms of real-time characteristic, accuracy, and self-learning and therefore will be an important research focus of control method in future due to the property of “model-free” and “self-learning” that well accommodates the abundance of traffic information data. Besides, it will also provide an entry point and technical support for the development of Vehicle-to-X systems, Internet of vehicles, and autonomous driving industries. Therefore, the related achievements of the adaptive control system for the future traffic environment have extremely broad application prospects.

scholarly journals Hybrid Impedance Control of Human Skin Muscle by Multi-fingered Robot Hand

2008 ◽  
Vol 41 (2) ◽  
pp. 15742-15749 ◽  
Author(s):  
Kazuhiko Terashima ◽  
Keisuke Mouri ◽  
Panya Minyong ◽  
Hideo Kitagawa ◽  
Takanori Miyoshi
Keyword(s):  
Human Skin ◽  
Impedance Control ◽  
Robot Hand

Impedance Control of a Pneumatic Servo System with Adaptive Control Method

1991 ◽  
Vol 3 (6) ◽  
pp. 463-469 ◽  
Author(s):  
Toshiro Noritsugu ◽  
◽  
Tsutomu Wada ◽  
Toshiaki Asanoma ◽  
◽  
...  
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Position Control ◽  
Control Method ◽  
Reference Model ◽  
Impedance Control ◽  
Servo System ◽  
Operating Conditions ◽  
Pneumatic Cylinder ◽  
Pneumatic Servo System

One of the typical features of a pneumatic servo is a relatively high compliance due to air compressibility. This feature may be useful for constrained tasks such as deburring, polishing, and assisting humans, in which the relationship between position and force is important. If this relationship of a pneumatic servo becomes actively controllable, it can be effectively applied to these tasks. In order to control this relationship, an impedance control concept has recently been proposed. The impedance of the overall control system depends not only on the manipulator but also on the manipulated object of which the characteristics are usually unknown. Therefore, to attain the desired impedance over extensive operating conditions, an adaptive control strategy is required. This paper proposes an impedance control method of a pneumatic servo, using a position based approach, where an adaptive position control system is constructed inside the force feedback loop. The proposed method is applied to an experimental pneumatic servo system comprised of a pneumatic cylinder, electro-pneumatic proportional control valves, and a spring object. From the experiments, the following has been verified: 1) both static stiffness and dynamic impedance of the pneumatic servo system can be independently regulated by setting a desired reference model; 2) the impedance can be held constant with changes in system parameter such as object stiffness; and 3) the instability problem for the low stiffness setting can be overcome by setting high damping in the reference model. The proposed impedance control method may prove to be effective for both improving a pneumatic servo and developing its new applications.

Consideration of Multi-Degree of Freedom Vibration on Large-Sized Gantry Type Linear Motor Slider

2019 ◽  
Vol 31 (2) ◽  
pp. 240-250 ◽  
Author(s):  
Tetsuya Ojiro ◽  
Toshiyuki Tachibana ◽  
Hideki Honda ◽  
Hiroshi Hamamatsu ◽  
Kazuhiro Tsuruta ◽  
...  
Keyword(s):  
Control System ◽  
Modal Analysis ◽  
Vibration Suppression ◽  
Control Method ◽  
Impedance Control ◽  
Linear Motor ◽  
Repulsive Force ◽  
Degree Of Freedom ◽  
Past Study ◽  
Large Production

Many transport units for large production devices now incorporate large-sized gantry type linear motor sliders comprising two parallel linear sliders linked by a joint table. This type of linear motor slider develops a unique mechanical distortion, generating a repulsive force between the two axes that can raise the motor output forces higher than their rated limit. A previous study proposed a method to suppress the repulsive force. However, as feedback gains are set high, force references oscillate and the control system becomes unstable. In past study, yawing vibration suppression methods have been proposed. But, we consider that this vibration is not yawing vibration because the force references include same phase vibration with high gains. Therefore, the modal analysis is performed to analyze this vibration. As a result, it was found that the pitching vibration of the slider was greatly affected. This paper considers this vibration phenomenon, and suppression of the vibration by control method which is similar to impedance control is presented. Hence, it is shown that considering multi-degree of freedom vibration which means yawing vibration and pitching vibration included is important in order to control the large-sized gantry type linear motor sliders.

scholarly journals Research on Key Control Technology of Intelligent Rolling Contact Fatigue Test Facility

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Jianyao Li ◽  
Juke Liang ◽  
Gubo Chen ◽  
Yan Yang
Keyword(s):  
Control System ◽  
Fatigue Test ◽  
Control Method ◽  
Rolling Contact Fatigue ◽  
Contact Fatigue ◽  
Rolling Contact ◽  
Test Equipment ◽  
Load Control ◽  
Average Error ◽  
Control Methods

An intelligent rolling contact fatigue test equipment is developed, and the control methods are presented. For obtaining the slip accurately, the control method based on master-slave synchronization is proposed. For controlling the loads in high precision, the control method took into consideration the influence by two factors, displacement and the load. The nonlinear interference and excess torque in load control are effectively suppressed. Based on the SIMOTION D425 which is the Siemens integrated motion control system, the control system architecture of the intelligent rolling contact fatigue test equipment is constructed. The solutions of slip ratio and the experimental load controlled by these methods are satisfactory with the requirement of design precision. In the validation experiment, the load control accuracy is ±3%, the average error of load control is 1.77%, and the average error of slip control is 0.26%. The experiment results show the proposed control methods are feasible and effective.

Research on Multi-Actuators Speed Control System in Large-Scale Ship

2009 ◽  
Vol 16-19 ◽  
pp. 1138-1142
Author(s):  
Hui Xiong Wan ◽  
Hong Jie Xia ◽  
Hai Bo Huang
Keyword(s):  
Control System ◽  
Large Scale ◽  
Control Method ◽  
Flow Distribution ◽  
Speed Control ◽  
Effective Control ◽  
Control Methods ◽  
Compensation Control ◽  
Speed Control System ◽  
Pressure Compensation

For multi-actuators speed control system driven by single pump, several effective control methods have been proposed, such as flow feedback control, etc. These methods are effective only to the engineering equipment with fewer actuators. As for large ships with more than ten actuators required for speed control, using traditional control methods will result in that costs much, the structure of the hydraulic system is very complicated, even unable to realize. In order to meet the coordinate action of many actuators, two ways based on throttle control and pressure compensation control are introduced in this paper. The research results based on the theoretical analysis of speed control error and adaptability, simulation research and experimental confirmation indicate that the throttle control method is limited by the number of actuators, load size and the speed error, but the pressure compensation control method is helpful to enhance rationality and the coordination of flow distribution between various actuators.

A Control Method for Robot Fingers with Three-Axis Force Sensor

2014 ◽  
Vol 614 ◽  
pp. 175-178
Author(s):  
Ming Hua Luo ◽  
Chun Wei Pan ◽  
Xiu Wen Yang ◽  
Xin Hua Luo
Keyword(s):  
Control System ◽  
Force Control ◽  
Force Feedback ◽  
Control Method ◽  
Dynamic Balance ◽  
Force Sensor ◽  
Robot Hand ◽  
Closed Loops ◽  
Force Control System ◽  
Grasping Force

This paper proposed a new grasping method for robot fingers with three-axis force sensors. When a robot hand with two fingers is grasping an object, such as an egg, two closed loops with negative feedback in force-control system are start. When grasping force of the two fingers are equal reference force, dynamic balance is reached. Once tiny sliding between egg and finger occurred, force feedback start immediately, dynamic balance is reached again. In this way, our robot hand can firmly grasps eggs, even if vibration added on the robot hand.

Sign in / Sign up

Export Citation Format

Share Document