A vision-based, impedance control strategy for industrial robot manipulators

The deburring process of manufactured parts has been investigated theoretically and experimentally as a frequency domain control problem with special regard to application by industrial robot manipulators. A new control strategy has been developed for precision deburring to guarantee burr removal while compensating for robot oscillations and small uncertainties in the location of the part relative to the robot. Compliant tool-holders, designed according to the above control strategy, provide the required normal and tangential forces for deburring. A servo positioning table used to holds parts, has been considered in this study to compensate for robot oscillations up to 80 percent. The robot, the compliant tool-holder, and the servo positioning table, working together with a closed-loop process control, form a new automated system that deburrs manufactured parts.

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Adaptive series-virtual-impedance control strategy for load converters to improve the stability of the cascaded system

2016 IEEE 7th International Symposium on Power Electronics for Distributed Generation Systems (PEDG) ◽

10.1109/pedg.2016.7526998 ◽

2016 ◽

Cited By ~ 1

Author(s):

Xin Zhang ◽

Qing-Chang Zhong ◽

Wen-Long Ming

Keyword(s):

Control Strategy ◽

Impedance Control ◽

The Stability ◽

Virtual Impedance ◽

Cascaded System

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Robust implementation of generalized impedance control for robot manipulators

Advanced Robotics ◽

10.1163/156855301317035179 ◽

2001 ◽

Vol 15 (6) ◽

pp. 641-661 ◽

Cited By ~ 5

Author(s):

S. P.Chan ◽

H. P.Chen

Keyword(s):

Impedance Control ◽

Robot Manipulators ◽

Robust Implementation

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A Human-Inspired Control Strategy for Improving Seamless Robot-To-Human Handovers

Applied Sciences ◽

10.3390/app11104437 ◽

2021 ◽

Vol 11 (10) ◽

pp. 4437

Author(s):

Paramin Neranon ◽

Tanapong Sutiphotinun

Keyword(s):

Control System ◽

Control Strategy ◽

Impedance Control ◽

Human Interaction ◽

Robotic Control ◽

Natural Manner ◽

Object Handover ◽

Overall Performance ◽

Survey Responses ◽

Test Outcomes

One of the challenging aspects of robotics research is to successfully establish a human-like behavioural control strategy for human–robot handover, since a robotic controller is further complicated by the dynamic nature of the human response. This paper consequently highlights the development of an appropriate set of behaviour-based control for robot-to-human object handover by first understanding an equivalent human–human handover. The optimized hybrid position and impedance control was implemented to ensure good stability, adaptability and comfort of the robot in the object handover tasks. Moreover, a questionnaire technique was employed to gather information from the participants concerning their evaluations of the developed control system. The results demonstrate that the quantitative measurement of performance of the human-inspired control strategy can be considered acceptable for seamless human–robot handovers. This also provided significant satisfaction with the overall control performance in the robotic control system, in which the robot can dexterously pass the object to the receiver in a timely and natural manner without the risk of harm or injury by the robot. Furthermore, the survey responses were in agreement with the parallel test outcomes, demonstrating significant satisfaction with the overall performance of the robot–human interaction, as measured by an average rating of 4.20 on a five-point scale.

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