Scalable collective impedance control of an object via a decentralized force control method

2017 ◽  
Author(s):  
Shadi T. Kalat ◽  
Siamak G. Faal ◽  
Cagdas D. Onal
Keyword(s):  
Force Control ◽  
Control Method ◽  
Impedance Control

Control of an operator-assisted mobile robotic system

Robotica ◽  
2002 ◽  
Vol 20 (4) ◽  
pp. 439-446 ◽  
Author(s):  
Jae H. Chung
Keyword(s):  
Force Control ◽  
Control Method ◽  
Impedance Control ◽  
Robotic System ◽  
High Load ◽  
Mobile Platform ◽  
System Response ◽  
Control Performance ◽  
Wheel Slip ◽  
Simple Operator

In this paper, two different control methods are developed for an operator-assisted mobile robotic system for high load applications. For high load applications of mobile robots, an accurate tire model that considers wheel slip needs to be studied to achieve robustness of the system response. First, a simple operator-manipulator coordination system is developed based on explicit force control. Then, a position controller for the platform is designed to minimize the effect of wheel slip on control performance and integrated with the force controller for the operator-manipulator subsystem based on a motion coordination scheme. Then, a new type of human-robot coordination control method is developed, in which robust force control of the manipulator and impedance control of the mobile platform are integrated to achieve robust response and smooth interaction between the operator, the manipulator and the mobile platform. In simulation, the developed methods are compared for control performance on following the operator's motion intention.

scholarly journals Efficient Force Control Learning System for Industrial Robots Based on Variable Impedance Control

Sensors ◽  
2018 ◽  
Vol 18 (8) ◽  
pp. 2539 ◽  
Author(s):  
Chao Li ◽  
Zhi Zhang ◽  
Guihua Xia ◽  
Xinru Xie ◽  
Qidan Zhu
Keyword(s):  
Force Control ◽  
Process Model ◽  
Control Method ◽  
Impedance Control ◽  
Experimental Tests ◽  
Industrial Robots ◽  
Learning System ◽  
Control Learning ◽  
Efficient Learning

Learning variable impedance control is a powerful method to improve the performance of force control. However, current methods typically require too many interactions to achieve good performance. Data-inefficiency has limited these methods to learn force-sensitive tasks in real systems. In order to improve the sampling efficiency and decrease the required interactions during the learning process, this paper develops a data-efficient learning variable impedance control method that enables the industrial robots automatically learn to control the contact force in the unstructured environment. To this end, a Gaussian process model is learned as a faithful proxy of the system, which is then used to predict long-term state evolution for internal simulation, allowing for efficient strategy updates. The effects of model bias are reduced effectively by incorporating model uncertainty into long-term planning. Then the impedance profiles are regulated online according to the learned humanlike impedance strategy. In this way, the flexibility and adaptivity of the system could be enhanced. Both simulated and experimental tests have been performed on an industrial manipulator to verify the performance of the proposed method.

Collision detection and force control based on the impedance approach and dynamic modelling

2019 ◽  
Vol 47 (6) ◽  
pp. 813-824
Author(s):  
Pengcheng Wang ◽  
Dengfeng Zhang ◽  
Baochun Lu
Keyword(s):  
Collision Detection ◽  
Force Control ◽  
Control Method ◽  
Impedance Control ◽  
Dynamic Modelling ◽  
Band Pass Filter ◽  
Pass Filter ◽  
Content Type ◽  
Control Approach ◽  
Collision Problem

Purpose This paper aims to address the collision problem between robot and the external environment (including human) in an unstructured situation. A new collision detection and torque optimization control method is proposed. Design/methodology/approach Firstly, when the collision appears, a second-order Taylor observer is proposed to estimate the residual value. Secondly, the band-pass filter is used to reduce the high-frequency torque modeling dynamic uncertainty. With the estimate information and the torque value, a variable impedance control approach is then synthesized to guarantee that the collision is avoided or the collision will be terminated with different contact models and positions. However, in terms of adaptive linear force error, the variation of the thickness of the boundary layer is controlled by the new proximity function. Findings Finally, the experimental results show the better performance of the proposed control method, realizing the force control during the collision process. Originality/value Origin approach and origin experiment.

Development of an Active Worktable and Its Application to Force Control of Robot Manipulators

2000 ◽  
Vol 12 (3) ◽  
pp. 249-253
Author(s):  
Shin-ichi Nakajima ◽  
Keyword(s):  
Force Control ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Robot Manipulator ◽  
Impedance Control ◽  
Robot Manipulators ◽  
Compliant Motion ◽  
Stiffness Control

An active worktable, which can be applied to force control tasks of commercial robot manipulators, has been designed and built. The active worktable has several degrees of freedom and accommodates its position/force in accordance with the motion of a robot manipulator. A stiffness control method and an impedance control method are implemented in the active worktable to achieve compliant motion. Several experiments were carried out to confirm basic effectiveness of the active worktable.

Impedance Control Based Sliding Mode for Lower Limb Rehabilitation Robot

2014 ◽  
Vol 672-674 ◽  
pp. 1770-1773 ◽  
Author(s):  
Fu Cheng Cao ◽  
Li Min Du
Keyword(s):  
Dynamic Response ◽  
Sliding Mode Control ◽  
Lower Limb ◽  
Control Method ◽  
Sliding Mode ◽  
Impedance Control ◽  
Rehabilitation Robot ◽  
Active Rehabilitation ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Aimed at improving the dynamic response of the lower limb for patients, an impedance control method based on sliding mode was presented to implement an active rehabilitation. Impedance control can achieve a target-reaching training without the help of a therapist and sliding mode control has a robustness to system uncertainty and vary limb strength. Simulations demonstrate the efficacy of the proposed method for lower limb rehabilitation.

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.

High-rate deposition of Sb-doped SnO2 films by reactive sputtering using the impedance control method

2011 ◽  
Vol 520 (4) ◽  
pp. 1178-1181 ◽  
Author(s):  
Yu Muto ◽  
Nobuto Oka ◽  
Naoki Tsukamoto ◽  
Yoshinori Iwabuchi ◽  
Hidefumi Kotsubo ◽  
...  
Keyword(s):  
Control Method ◽  
Impedance Control ◽  
Reactive Sputtering ◽  
High Rate

Constant force control for aluminum wheel hub grinding based on ESO + backstepping

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Shijie Dai ◽  
Yufeng Zhao ◽  
Wenbin Ji ◽  
Jiaheng Mu ◽  
Fengbao Hu
Keyword(s):  
Control Strategy ◽  
Force Control ◽  
Control Method ◽  
Response Speed ◽  
Backstepping Control ◽  
Constant Force ◽  
Content Type ◽  
Disturbance Rejection Control ◽  
The Stability ◽  
Differential Control

Purpose This paper aims to present a control method to realize the constant force grinding of automobile wheel hub. Design/methodology/approach A constant force control strategy combined by extended state observer (ESO) and backstepping control is proposed. ESO is used to estimate the total disturbance to improve the anti-interference and stability of the system and Backstepping control is used to improve the response speed of the system. Findings The simulation and grinding experimental results show that, compared with the proportional integral differential control and active disturbance rejection control, the designed controller can improve the dynamic response performance and anti-interference ability of the system and can quickly track the expected force and improve the grinding quality of the hub surface. Originality/value The main contribution of this paper lies in the proposed of a new constant force control strategy, which significantly improved the stability and precision of grinding force.

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