Sliding mode impedance control of a underactuated prosthetic hand

2014 ◽  
Author(s):  
Huanxin Luo ◽  
Xiaogang Duan ◽  
Hua Deng
Keyword(s):  
Sliding Mode ◽  
Impedance Control ◽  
Prosthetic Hand

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.

Fault tolerant control based on backstepping nonsingular terminal integral sliding mode and impedance control for a lower limb exoskeleton

2021 ◽  
pp. 095440622110357
Author(s):  
Majied Mokhtari ◽  
Mostafa Taghizadeh ◽  
Pegah Ghaf Ghanbari
Keyword(s):  
Sliding Mode Control ◽  
Lower Limb ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Impedance Control ◽  
Fault Tolerant Control ◽  
Integral Type ◽  
Lower Limb Exoskeleton ◽  
Mode Control ◽  
Control Scheme

In this paper, an active fault-tolerant control scheme is proposed for a lower limb exoskeleton, based on hybrid backstepping nonsingular fast terminal integral type sliding mode control and impedance control. To increase the robustness of the sliding mode controller and to eliminate the chattering, a nonsingular fast terminal integral type sliding surface is used, which ensures finite time convergence and high tracking accuracy. The backstepping term of this controller guarantees global stability based on Lyapunov stability criterion, and the impedance control reduces the interaction forces between the user and the robot. This controller employs a third order super twisting sliding mode observer for detecting, isolating ad estimating sensor and actuator faults. Motion stability based on zero moment point criterion is achieved by trajectory planning of waist joint. Furthermore, the highest level of stability, minimum error in tracking the desired joint trajectories, minimum interaction force between the user and the robot, and maximum system capability to handle the effect of faults are realized by optimizing the parameters of the desired trajectories, the controller and the observer, using harmony search algorithm. Simulation results for the proposed controller are compared with the results obtained from adaptive nonsingular fast terminal integral type sliding mode control, as well as conventional sliding mode control, which confirm the outperformance of the proposed control scheme.

Adaptive Sliding Mode Impedance Control of Single-Link Flexible Manipulators interacting with the Environment at an Unknown Intermediate Point

Robotica ◽  
2019 ◽  
Vol 38 (9) ◽  
pp. 1642-1664 ◽  
Author(s):  
Ali Fayazi ◽  
Naser Pariz ◽  
Ali Karimpour ◽  
V. Feliu-Batlle ◽  
S. Hassan HosseinNia
Keyword(s):  
Position Control ◽  
Sliding Mode ◽  
Impedance Control ◽  
Detection Algorithm ◽  
Reference Trajectory ◽  
Constrained Motion ◽  
Intermediate Point ◽  
Control Scheme ◽  
Single Link ◽  
Motion Mode

SUMMARYThis paper proposes an adaptive robust impedance control for a single-link flexible arm when it encounters an environment at an unknown intermediate point. First, the intermediate collision point is estimated using a collision detection algorithm. The controller, then, switches from free to constrained motion mode. In the unconstrained motion mode, the exerted force to environment is nearly zero. Thus, the reference trajectory is a prescribed desired trajectory in position control. In the constrained motion mode, the reference trajectory is determined by the desired target dynamic impedance. The simulation results demonstrate the efficiency of proposed control scheme.

Robotic Impedance Control with Fuzzy Sliding Model Control Strategy

2014 ◽  
Vol 598 ◽  
pp. 605-609
Author(s):  
Shiuh Jer Huang ◽  
Chiao Kuen Yu ◽  
You Min Huang
Keyword(s):  
Hybrid Control ◽  
Sliding Mode ◽  
Impedance Control ◽  
Robotic Assembly ◽  
Robotic Control ◽  
Model Free ◽  
Model Control ◽  
Force Profile ◽  
Fuzzy Sliding Mode ◽  
Fuzzy Sliding Model Control

During robotic assembly and interactive applications, the robot end-effector must follow a motion trajectory and exert an appropriate force profile against the contacted environment to provide a specified dynamic working compliance. It is a difficult control problem. Here, an embedded robotic control structure is constructed and the related hybrid control software programs are developed. The model-free intelligent fuzzy sliding mode controller is introduced to design force and position controllers, respectively for hybrid impedance control purpose. The experimental results are provided to demonstrate the effectiveness of the proposed hybrid impedance control system.

Sliding Mode Impedance and Stiffness Control of a Pneumatic Cylinder

2019 ◽  
Author(s):  
Jonathon E. Slightam ◽  
Eric J. Barth ◽  
Mark L. Nagurka
Keyword(s):  
Motion Control ◽  
Sliding Mode ◽  
Impedance Control ◽  
Pneumatic Cylinder ◽  
Control Methods ◽  
Control Applications ◽  
Compliant Motion ◽  
Simultaneous Control ◽  
Stiffness Control ◽  
Virtual Impedance

Abstract Pneumatic double acting cylinders are able to provide inherent stiffness and force control for compliant motion control applications. Impedance control methods allow for a broad spectrum of mechanical properties of actuators to be achieved. The range of this spectrum can be increased by simultaneously controlling the actuator’s inherent stiffness and impedance, a concept explored in this paper. Presented here is a sliding mode impedance and stiffness controller for a servo-pneumatic double acting cylinder. Two proportional servo-valves are employed for simultaneous control of the virtual impedance and inherent stiffness of the pneumatic cylinder. Experimental results of tracking trajectories and contact are reported and discussed with respect to different approaches in the literature.

A Modular 2-DOF Serial Robot Manipulator for Education in Robot Control

2016 ◽  
Author(s):  
Stephen Mascaro
Keyword(s):  
Robot Control ◽  
Inverse Dynamics ◽  
Position Control ◽  
Sliding Mode ◽  
Feedforward Control ◽  
Robot Manipulator ◽  
Impedance Control ◽  
Force Sensor ◽  
Control Techniques ◽  
Serial Robot

This paper describes a modular 2-DOF serial robot manipulator and accompanying experiments that have been developed to introduce students to the fundamentals of robot control. The robot is designed to be safe and simple to use, and to have just enough complexity (in terms of nonlinear dynamics) that it can be used to showcase and compare the performance of a variety of textbook robot control techniques including computed torque feedforward control, inverse dynamics control, robust sliding-mode control, and adaptive control. These various motion control schemes can be easily implemented in joint space or operational space using a MATLAB/Simulink real-time interface. By adding a simple 2-DOF force sensor to the end-effector, the robot can also be used to showcase a variety of force control techniques including impedance control, admittance control, and hybrid force/position control. The 2-DOF robots can also be used in pairs to demonstrate control architectures for multi-arm coordination and master/slave teleoperation. This paper will describe the 2-DOF robot and control hardware/software, illustrate the spectrum of robot control methods that can be implemented, and show sample results from these experiments.

Dynamic Analysis and Sliding Mode Impedance Control of a Robot Manipulator Subject to Impact/Contact With an Arbitrary Environment

2010 ◽  
Author(s):  
Masih Mahmoodi ◽  
Mehrdad Farid ◽  
Mohammad Eghtesad
Keyword(s):  
Abrupt Change ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Impedance Control ◽  
Contact Dynamics ◽  
Simulation Studies ◽  
Environment Impact ◽  
Contact Phenomenon ◽  
Simulation Results ◽  
Contact Impact

In this paper, dynamic equations of a robot manipulator subject to compliant contact/impact with the environment are derived using nonlinear elastodynamic approach. Then, a sliding mode impedance algorithm is proposed to control compliant impact/contact dynamics of the robot manipulator with an arbitrary environment. Impact/contact phenomenon can be regarded as a perturbation due to an abrupt change of system’s velocity. Thus the need to have robust characteristics in such systems especially after impact seems to be evident. The performance of the proposed controller is compared against standard second order impedance controller through numerical simulation studies. Finally, simulation results are provided to show the effectiveness of the proposed algorithm.

Network Teleoperation Robot System Control Based on Fuzzy Sliding Mode

2016 ◽  
Vol 20 (5) ◽  
pp. 828-835 ◽  
Author(s):  
Zhongda Tian ◽  
◽  
Xianwen Gao ◽  
Peiqin Guo ◽  
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Impedance Control ◽  
Dynamic Performance ◽  
System Control ◽  
Sliding Mode Controller ◽  
Robot System ◽  
Chattering Phenomenon ◽  
Comparison Results ◽  
Fuzzy Sliding Mode

A teleoperation robot system is connected through a network. However, stochastic delay in such a network can affect its performance, or even make the system unstable. To solve this problem, this paper proposes a teleoperation robot system control method based on fuzzy sliding mode. In the proposed method, a delay generator generates variable delay conforming to a shift gamma distribution designed to simulate actual network delay. In addition, a proposed fuzzy sliding mode controller based on switching gain adjustment is used to rectify the chattering phenomenon in the sliding mode controller of the teleoperation robot system. In the controller, the master hand uses impedance control and realizes feedback from the slave hand. Controller simulation comparison results show that the proposed fuzzy sliding mode controller effectively eliminates the sliding mode control chattering phenomenon as the slave hand stabilizes the tracking velocity of the master hand. Consequently, the system exhibits improved dynamic performance.

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