Adaptive stiffness estimation impedance control for achieving sustained contact in aerial manipulation

This paper considers the problem of performing bimanual aerial manipulation tasks in grabbing conditions, with one of the arms grabbed to a fixed point (grabbing arm) while the other conducts the task (operation arm). The goal was to evaluate the positioning accuracy of the aerial platform and the end effector when the grabbing arm is used as position sensor, as well as to analyze the behavior of the robot during the aerial physical interaction on flight. The paper proposed a control scheme that exploits the information provided by the joint sensors of the grabbing arm for estimating the relative position of the aerial platform w.r.t. (with respect to) the grabbing point. A deflection-based Cartesian impedance control was designed for the compliant arm, allowing the generation of forces that help the aerial platform to maintain the reference position when it is disturbed due to external forces. The proposed methods were validated in an indoor testbed with a lightweight and compliant dual arm aerial manipulation robot.

Download Full-text

Impedance Control Based Sliding Mode for Lower Limb Rehabilitation Robot

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.672-674.1770 ◽

2014 ◽

Vol 672-674 ◽

pp. 1770-1773 ◽

Cited By ~ 1

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.

Download Full-text

The study of impedance control of lower extremity exoskeleton

2020 IEEE International Conference on Mechatronics and Automation (ICMA) ◽

10.1109/icma49215.2020.9233653 ◽

2020 ◽

Author(s):

Yali Han ◽

Jinfei Shi ◽

Han Sun ◽

Weijie Zhou ◽

Hongyao Guan ◽

...

Keyword(s):

Lower Extremity ◽

Impedance Control

Download Full-text

An Impedance Control Method of Lower Limb Exoskeleton Rehabilitation Robot Based on Predicted Forward Dynamics

2020 IEEE 19th International Conference on Trust, Security and Privacy in Computing and Communications (TrustCom) ◽

10.1109/trustcom50675.2020.00206 ◽

2020 ◽

Author(s):

Yuefei Wang ◽

Zhen Liu ◽

Liucun Zhu ◽

Xiaoying Li ◽

Huaibin Wang

Keyword(s):

Lower Limb ◽

Control Method ◽

Impedance Control ◽

Rehabilitation Robot ◽

Forward Dynamics ◽

Lower Limb Exoskeleton

Download Full-text

Sensorless environment stiffness and interaction force estimation for impedance control tuning in robotized interaction tasks

Autonomous Robots ◽

10.1007/s10514-021-09970-z ◽

2021 ◽

Author(s):

Loris Roveda ◽

Dario Piga

Keyword(s):

Impedance Control ◽

Interaction Force ◽

Industrial Robots ◽

Force Estimation ◽

Interaction Control ◽

Stiffness Properties ◽

Implementation Effort ◽

Coupling Dynamics ◽

And Control ◽

Assembly Tasks

AbstractIndustrial robots are increasingly used to perform tasks requiring an interaction with the surrounding environment (e.g., assembly tasks). Such environments are usually (partially) unknown to the robot, requiring the implemented controllers to suitably react to the established interaction. Standard controllers require force/torque measurements to close the loop. However, most of the industrial manipulators do not have embedded force/torque sensor(s) and such integration results in additional costs and implementation effort. To extend the use of compliant controllers to sensorless interaction control, a model-based methodology is presented in this paper. Relying on sensorless Cartesian impedance control, two Extended Kalman Filters (EKF) are proposed: an EKF for interaction force estimation and an EKF for environment stiffness estimation. Exploiting such estimations, a control architecture is proposed to implement a sensorless force loop (exploiting the provided estimated force) with adaptive Cartesian impedance control and coupling dynamics compensation (exploiting the provided estimated environment stiffness). The described approach has been validated in both simulations and experiments. A Franka EMIKA panda robot has been used. A probing task involving different materials (i.e., with different - unknown - stiffness properties) has been considered to show the capabilities of the developed EKFs (able to converge with limited errors) and control tuning (preserving stability). Additionally, a polishing-like task and an assembly task have been implemented to show the achieved performance of the proposed methodology.

Download Full-text

Development of an autonomous robotic system for beard shaving assistance of disabled people based on an adaptive force tracking impedance control

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/0954406220984821 ◽

2021 ◽

pp. 095440622098482

Author(s):

Oladayo S Ajani ◽

Samy FM Assal

Keyword(s):

Impedance Control ◽

Environmental Parameters ◽

Robotic System ◽

Robotic Systems ◽

Full Potential ◽

Robotic Assistance ◽

Head Pose ◽

Detection And Tracking ◽

Control Scheme ◽

Force Tracking

Recently, people with upper arm disabilities due to neurological disorders, stroke or old age are receiving robotic assistance to perform several activities such as shaving, eating, brushing and drinking. Although the full potential of robotic assistance lies in the use of fully autonomous robotic systems, these systems are limited in design due to the complexities and the associated risks. Hence, rather than the shared controlled or active robotic systems used for such tasks around the head, an adaptive compliance control scheme-based autonomous robotic system for beard shaving assistance is proposed. The system includes an autonomous online face detection and tracking as well as selected geometrical features-based beard region estimation using the Kinect RGB-D camera. Online trajectory planning for achieving the shaving task is enabled; with the capability of online re-planning trajectories in case of unintended head pose movement and occlusion. Based on the dynamics of the UR-10 6-DOF manipulator using ADAMS and MATLAB, an adaptive force tracking impedance controller whose parameters are tuned using Genetic Algorithm (GA) with force/torque constraints is developed. This controller can regulate the contact force under head pose changing and varying shaving region stiffness by adjusting the target stiffness of the controller. Simulation results demonstrate the system capability to achieve beard shaving autonomously with varying environmental parameters that can be extended for achieving other tasks around the head such as feeding, drinking and brushing.

Download Full-text

Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots

Sensors ◽

10.3390/s20174911 ◽

2020 ◽

Vol 20 (17) ◽

pp. 4911

Author(s):

Qian Hao ◽

Zhaoba Wang ◽

Junzheng Wang ◽

Guangrong Chen

Keyword(s):

Impedance Control ◽

Stability Margin ◽

Planning Method ◽

Legged Robots ◽

Gait Planning ◽

Quadruped Locomotion ◽

Quadruped Robots ◽

Adjustment Strategy ◽

Compliant Behavior ◽

The Stability

Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations.

Download Full-text

Suppress Vibration on Robotic Polishing with Impedance Matching

Actuators ◽

10.3390/act10030059 ◽

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.

Download Full-text