Research of a Self-adaptive Robot Impedance Control Method for Robot-Environment Interaction

2015 ◽  
pp. 221-238 ◽  
Author(s):  
Zhengyi Li ◽  
Dandan Yang ◽  
Hui Zhou ◽  
Huimin Cao
Keyword(s):  
Control Method ◽  
Impedance Control ◽  
Environment Interaction ◽  
Self Adaptive

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.

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

Synchronous Control Characteristics Analysis of Shield Propulsion Hydraulic System Based on Tracking Differentiator and Self-Adaptive Nonlinear PID

2021 ◽  
Author(s):  
Sen Li ◽  
XiaoHua Cao
Keyword(s):  
Pid Control ◽  
Hydraulic System ◽  
Control Method ◽  
Hydraulic Systems ◽  
Fuzzy Pid Control ◽  
Synchronous Control ◽  
Tracking Differentiator ◽  
Characteristics Analysis ◽  
Servo Tracking ◽  
Self Adaptive

Aiming at the low precision problem of multi-cylinder cooperative propulsion control in different regions of shield propulsion hydraulic systems under conditions of large load changes, this paper proposes a tracking differentiator and self-adaptive nonlinear PID (TD-NPID) control method to improve the synchronous control characteristics of shield propulsion hydraulic systems. First, the working principles of shield propulsion hydraulic systems were analyzed, and a mathematical model and TD-NPID controller were developed. Then, a simulation model was developed in AMESim-MATLAB environment, and the synchronous dynamic performances of fuzzy PID control, conventional PID control, and TD-NPID control were compared and analyzed. The results demonstrated that the shield propulsion hydraulic system with TD-NPID control had better servo tracking ability and steady-state performance than the systems with fuzzy or conventional PID control, which verified the feasibility of the application of TD-NPID control for the synchronous control of shield propulsion hydraulic systems.

scholarly journals Time-Varying Impedance Control of Port Hamiltonian System with a New Energy-Storing Tank

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Min Zheng ◽  
Tangqing Yuan ◽  
Tao Huang
Keyword(s):  
Control Method ◽  
Impedance Control ◽  
Conservative System ◽  
Time Varying ◽  
Control Performance ◽  
Singularity Problem ◽  
Numerical Examples ◽  
New Energy ◽  
Simulation Results ◽  
New Framework

In order to guarantee the passivity of a kind of conservative system, the port Hamiltonian framework combined with a new energy tank is proposed in this paper. A time-varying impedance controller is designed based on this new framework. The time-varying impedance control method is an extension of conventional impedance control and overcomes the singularity problem that existed in the traditional form of energy tank. The validity of the controller designed in this paper is shown by numerical examples. The simulation results show that the proposed controller can not only eliminate the singularity problem but can also improve the control performance.

Development of a Control Method of a Walking Assistance Apparatus for the Elderly or Rehabilitants

2011 ◽  
Author(s):  
Eiichirou Tanaka ◽  
Tadaaki Ikehara ◽  
Hirokazu Yusa ◽  
Yusuke Sato ◽  
Tomohiro Sakurai ◽  
...  
Keyword(s):  
Control Method ◽  
Impedance Control ◽  
Weight Bearing ◽  
The Elderly ◽  
Angular Frequency ◽  
Hip Joints ◽  
Walking Behavior ◽  
Leg Alignment ◽  
Walking Velocity ◽  
Parallel Link

A prototype for a walking assistance apparatus for the elderly or rehabilitants of motor palsy patients was developed as a next-generation vehicle or movable neuro-rehabilitation training appliance, using a novel spatial parallel link mechanism and a bearing lift. The flat steps of the apparatus move in parallel with the ground; the apparatus can support entire leg alignment (including soles) and assist; walking behavior at ankle, knee and hip joints simultaneously. To respond to the variation of equipped person’s walking velocity, the length of stride and walking cycle while walking with wearing the apparatus were compensated by using walking ratio. Therefore the apparatus can be controlled in response to equipped person’s will. Next, we developed a control method of the apparatus by using impedance control, taking into account the dynamics of the apparatus and the legs of an equipped person, and assist ratio for the equipped person. By adjusting the value of natural angular frequency of the desired dynamic equation for the equipped person, this apparatus can assist walking according to the equipped person’s desired response of the apparatus. Furthermore, motor palsy and muscle weakness patients can walk by themselves by using the apparatus; patients who have ambulation difficulty can use the apparatus with weight bearing lift that we developed. Using the apparatus with the weight bearing lift prevents stumbling and enables input of walking movement to the brain motor area. From the results of measured %MVC, the validity of the weight bearing lift was shown.

A novel impedance control method of rubber unstacking robot dealing with unpredictable and time-variable adhesion force

2021 ◽  
Vol 67 ◽  
pp. 102038
Author(s):  
Le Liang ◽  
Yanyan Chen ◽  
Liangchuang Liao ◽  
Hongwei Sun ◽  
Yanjie Liu
Keyword(s):  
Control Method ◽  
Adhesion Force ◽  
Impedance Control ◽  
Time Variable

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.

300 mm-Travel Stage of Grating Ruling Engine and Its Self-Adaptive Control Method

2014 ◽  
Vol 41 (6) ◽  
pp. 0608001
Author(s):  
李晓天 Li Xiaotian ◽  
于海利 Yu Haili ◽  
齐向东 Qi Xiangdong ◽  
朱继伟 Zhu Jiwei ◽  
于宏柱 Yu Hongzhu ◽  
...  
Keyword(s):  
Adaptive Control ◽  
Control Method ◽  
Self Adaptive
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