Force sensorless workspace impedance control considering resonant vibration of industrial robot

2005 ◽  
Author(s):  
S. Tungpataratanawong ◽  
K. Ohishi ◽  
T. Miyazaki
Keyword(s):  
Impedance Control ◽  
Industrial Robot ◽  
Resonant Vibration

scholarly journals Force Sensor-less Workspace Virtual Impedance Control Considering Resonant Vibration for Industrial Robot

2007 ◽  
Vol 127 (1) ◽  
pp. 1-8 ◽  
Author(s):  
Somsawas Tungpataratanawong ◽  
Kiyoshi Ohishi ◽  
Toshimasa Miyazaki ◽  
Seiichiro Katsura
Keyword(s):  
Impedance Control ◽  
Industrial Robot ◽  
Force Sensor ◽  
Resonant Vibration ◽  
Virtual Impedance

Path-Tracking Maneuvers With Industrial Robot Manipulators Using Uncalibrated Vision and Impedance Control

2012 ◽  
Vol 42 (6) ◽  
pp. 1716-1729 ◽  
Author(s):  
Isela Bonilla ◽  
Marco Mendoza ◽  
Emilio J. Gonzalez-Galván ◽  
César Chavez-Olivares ◽  
Ambrocio Loredo-Flores ◽  
...  
Keyword(s):  
Impedance Control ◽  
Robot Manipulators ◽  
Industrial Robot ◽  
Path Tracking

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

2010 ◽  
Author(s):  
Isela Bonilla ◽  
Emilio J González-Galván ◽  
César Chávez-Olivares ◽  
Marco Mendoza ◽  
Ambrocio Loredo-Flores ◽  
...  
Keyword(s):  
Control Strategy ◽  
Impedance Control ◽  
Robot Manipulators ◽  
Industrial Robot

Development of Impedance Control for Human/Robot Interactive Handling of Heavy Parts and Loads

2015 ◽  
Author(s):  
Jari M. Ahola ◽  
Jukka Koskinen ◽  
Tuomas Seppälä ◽  
Tapio Heikkilä
Keyword(s):  
Control System ◽  
Impedance Control ◽  
Industrial Robot ◽  
Work Conditions ◽  
Production Performance ◽  
Robot System ◽  
Soft Contact ◽  
Large Size ◽  
Real Robot ◽  
Hard Contact

This paper introduces a control system for human/robot interactive handling of heavy parts and loads. The aim of the study was to demonstrate the feasibility of human/robot cooperative handling of heavy parts and loads with a robot as a load carrier and a human as a motion guide. The control system included a medium sized industrial robot and two 6-dof F/T sensors adjusting the robot motion via parallel impedance compensators. This paper shows the principles for designing stable impedance compensators for hard contact with the environment as well as for soft contact with the human operator. The impedance compensators were evaluated in MATLAB Simulink and the target impedance models were verified with the real robot system. The result was a pilot system for flexible handling of heavy and large-size parts which can substantially improve the production performance and ergonomic work conditions in mechanical and manufacturing shops.

Improving robotic impedance control performance employing a cascaded controller based on virtual dynamics model

2022 ◽  
pp. 095440622110235
Author(s):  
Guanghui Liu ◽  
Bing Han
Keyword(s):  
Control Method ◽  
Robot Manipulator ◽  
Impedance Control ◽  
Industrial Robot ◽  
Mechanical Impedance ◽  
Superior Performance ◽  
Admittance Control ◽  
Dynamics Model ◽  
External Loop ◽  
Virtual Impedance

We propose a cascaded impedance control algorithm based on a virtual dynamics model (VDM) to achieve robust and effective mechanical impedance for a robot interacting with unknown environments. This cascaded controller consists of an internal loop of virtual impedance control based on a VDM and an external loop of impedance reference control. The VDM-based virtual impedance control can achieve the same effect as the conventional admittance control; its intermediate output of force/torque serves as the input for the external loop reference impedance control. Therefore, this cascaded controller shows superior performance by combining the advantages of admittance control and impedance control. We evaluate the controller in multiple-contact experiments on a six-degrees of freedom (6-DOF) industrial robot manipulator. The result shows that under various contact situations such as soft and rigid surfaces and free space, the proposed method can rapidly track the target and effectively maintain stability. In the experiments conducted on the robot in contact with various environments, the proposed control method reduced the steady-state error by more than 20% compared with the conventional admittance control.

scholarly journals Exploiting null space potentials to control arm robots compliantly performing nonlinear tactile tasks

2019 ◽  
Vol 16 (6) ◽  
pp. 172988141988547
Author(s):  
Nikolas Wilhelm ◽  
Rainer Burgkart ◽  
Jan Lang ◽  
Carina Micheler ◽  
Constantin von Deimling
Keyword(s):  
Degrees Of Freedom ◽  
Position Control ◽  
Null Space ◽  
Impedance Control ◽  
Industrial Robot ◽  
General Concept ◽  
Human Knee ◽  
Six Degrees Of Freedom ◽  
Human Knee Joint ◽  
Compliant Control

In this article, two new compliant control architectures are introduced that utilize null space solutions to decouple force and position control. They are capable to interact with uncertain surfaces and environments with varying materials and require fewer parameters to be tuned than the common architectures – hybrid or impedance control. The general concept behind these approaches allows to consider manipulators with six degrees of freedom as redundant by creating a virtual redundancy with a reduced work space. It will be demonstrated that the introduced approaches are superior regarding orthogonal separation of the Cartesian degrees of freedom and avoid inner singularities. To demonstrate their performance, the controllers are tested on a standard industrial robot (Stäubli, RX90B, six degrees of freedom) that actuates two different biomechanically inspired models of the human knee joint.

scholarly journals Impedance Control Using Anisotropic Fuzzy Environment Models

1999 ◽  
Vol 11 (1) ◽  
pp. 60-66 ◽  
Author(s):  
Fusaomi Nagata ◽  
◽  
Keigo Watanabe ◽  
Kazuya Sato ◽  
Kiyotaka Izumi ◽  
...  
Keyword(s):  
Genetic Algorithms ◽  
Numerical Simulations ◽  
Force Control ◽  
Impedance Control ◽  
Industrial Robot ◽  
Fuzzy Reasoning ◽  
Time Varying ◽  
Fuzzy Environment ◽  
Unknown Environments

We describe impedance control for force control in unknown environments, proposing anisotropic fuzzy environment models that estimate environmental stiffness using fuzzy reasoning and generate time-varying damping for stable force control. Each model is automatically taught with genetic algorithms (GAs), in which evaluation is made for force control in several known environments. Taught models are integrated for generalization. We apply models to tasks in which an industrial robot sands or polishes wood is differently stiff in different direction. Numerical simulations demonstrate the effectiveness of our method.

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