scholarly journals Interactional Modeling and Optimized PD Impedance Control Design for Robust Safe Fingertip Grasping

2020 ◽  
Author(s):  
Izzat Al-Darraji ◽  
Ali Kılıç ◽  
Sadettin Kapucu
Keyword(s):  
Impedance Control ◽  
Control Design

Design of an Active-Vibration System Based on Sky-Hook Damper and Impedance Control

2013 ◽  
Vol 416-417 ◽  
pp. 860-865
Author(s):  
Wu Sung Yao ◽  
Po Wen Hsueh ◽  
Mi Ching Tsai
Keyword(s):  
Impedance Control ◽  
Low Frequency ◽  
Control Design ◽  
Experimental Results ◽  
Vibration System ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Low Frequency Vibration ◽  
Model Reference Control ◽  
Active Vibration

This paper investigates an active anti-vibration system, and the isolation of low-frequency vibration is studied. A model reference control of the anti-vibration system with a sky-hook damper and impedance control is analyzed. An illustrated example of a single-degree-of-freedom anti-vibration system driven by a tubular linear servomotor is given to verify the performance of the proposed control design. Experimental results are given to show that the peak resonance value of 0dB within a frequency of 10Hz can be achieved successively.

scholarly journals Impedance Control Design Based on Plastic Deformation for a Robotic Arm

2016 ◽  
pp. 1-1 ◽  
Author(s):  
Taku Senoo ◽  
Masanori Koike ◽  
Kenichi Murakami ◽  
Masatoshi Ishikawa
Keyword(s):  
Plastic Deformation ◽  
Impedance Control ◽  
Control Design ◽  
Robotic Arm

Fractional-Order Impedance Control Design for Robot Manipulator

2021 ◽  
Author(s):  
Xiaolian Liu ◽  
Shaohua Wang ◽  
Ying Luo
Keyword(s):  
Fractional Order ◽  
Force Control ◽  
Robot Manipulator ◽  
Impedance Control ◽  
Design Method ◽  
Control Design ◽  
Performance Comparison ◽  
Positioning Errors ◽  
Impedance Parameters ◽  
Mass Spring

Abstract In order to make robot manipulators work more compliantly when contacting with the environment, it is necessary to reduce the contact force caused by positioning errors. One effective way to solve this problem is impedance control, which makes the robot manipulator a second-order mass-spring-damping system in principle. In this paper, a position-based fractional-order impedance control design method is proposed for the robot manipulator force control. The end-effector/environment contact model is established, and the closed-loop system is analyzed with the reference force as input. A fractional-order impedance parameters design method is proposed for better force-control performance, which calculates and optimizes parameters through frequency-domain specifications (i.e., phase margin and gain crossover frequency) and time-domain specification (i.e., the minimum JITSE). With the Robotics ToolBox for MATLAB (RTB), the performance comparison between integer-order and fractional-order impedance controls is illustrated in simulation. The fractional-order impedance control system has a faster response, smaller overshoot, and better resistance to external disturbances from the environment.

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