Impedance control with structural compliance and a sensorless strategy for contact tasks

2017 ◽  
Author(s):  
Dongwon Kim ◽  
Sang Hoon Kang ◽  
Gwang Min Gu ◽  
Maolin Jin
Keyword(s):  
Impedance Control ◽  
Structural Compliance ◽  
Contact Tasks

scholarly journals Bilateral Teleoperation with Adaptive Impedance Control for Contact Tasks

2021 ◽  
pp. 1-1
Author(s):  
Youssef Michel ◽  
Rahaf Rahal ◽  
Claudio Pacchierotti ◽  
Paolo Robuffo Giordano ◽  
Dongheui Lee
Keyword(s):  
Impedance Control ◽  
Bilateral Teleoperation ◽  
Adaptive Impedance Control ◽  
Contact Tasks

Planar Peg-in-Hole Insertion Using a Stiffness Controllable Pneumatic Manipulator

2005 ◽  
Author(s):  
Yong Zhu ◽  
Eric J. Barth
Keyword(s):  
Sliding Mode ◽  
Impedance Control ◽  
Load Cell ◽  
Experimental Results ◽  
Impedance Parameters ◽  
Spool Valves ◽  
Intrinsic Stiffness ◽  
Cell Force ◽  
Control Methodology ◽  
Contact Tasks

This paper presents a method for the impedance control of a pneumatic manipulator for peg-in-hole tasks without using a load cell. The control methodology presented contains a sliding mode force controller and an adaptive pressure summation relationship, which enforces the controllable natural stiffness of the pneumatic actuator. This is accomplished by utilizing two three-way proportional spool valves for each degree-of-freedom instead of a four-way valve typically used in fluid power control. Combinations of intrinsic stiffness provided by the compressibility of air and closed-loop stiffness provided by impedance parameters are studied. Experimental results are shown demonstrating that gentle transition from non-contact to contact tasks can be achieved without the use of a load cell by taking advantage of the intrinsically low stiffness of a pneumatic manipulator. Experimental results are also shown demonstrating sensorless (no load cell) force-guided insertion of a planar peg-in-hole task with position uncertainties (hole location not precisely known).

Adaptive Impedance Control for Robot Based on Estimation of Environmental Parameters

2011 ◽  
Vol 328-330 ◽  
pp. 1713-1716 ◽  
Author(s):  
Zhan Ming Li ◽  
Er Chao Li
Keyword(s):  
Neural Network ◽  
Bp Neural Network ◽  
Impedance Control ◽  
Environmental Parameters ◽  
Changing Environment ◽  
Unknown Environment ◽  
Adaptive Impedance Control ◽  
Impedance Parameters ◽  
The One ◽  
Contact Tasks

In order to realize precise contact tasks with an unknown environment, robotic force controllers have to adapt themselves to the unknown environment. Some impedance controllers are designed for several representative environmental parameters, A BP neural network is proposed to determine the one-to-one mapping relations between the environmental parameters and the impedance parameters. However, it is difficult to accurately know the environmental parameters in the case of a changing environment, RLS is proposed to estimate environmental parameters, then determine the impedance coefficients to control the robot. Simulations prove that the controller designed is feasible and effective.

scholarly journals Input-to-State Stability of Variable Impedance Control for Robotic Manipulator

2020 ◽  
Vol 10 (4) ◽  
pp. 1271 ◽  
Author(s):  
Junho Park ◽  
Youngjin Choi
Keyword(s):  
Stiffness Matrix ◽  
High Performance ◽  
Impedance Control ◽  
Time Derivative ◽  
Sufficient Conditions ◽  
Time Varying ◽  
Impedance Model ◽  
Simulation Results ◽  
The Given ◽  
Contact Tasks

Variable impedance control has been required to perform a variety of interactive tasks in contact with environments. In some cases, the time-varying stiffness matrix of the impedance model can be used to achieve high performance for uneven contact tasks. In the paper, two sufficient conditions are proposed to ensure the input-to-state stability (ISS) irrespective of time-varying stiffness. Furthermore, the update rule of the stiffness is also suggested in such a way that the asymptotic stability is guaranteed under certain region conditions. Even when the update rule is not applied, the ISS is at least assured. In other words, the error is always bounded only if the external force/torque is bounded. In detail, two sufficient conditions offer the lower bound of stiffness and the upper bound of its time derivative. Simulation results show that the ISS of variable impedance control is achieved if the proposed sufficient conditions are satisfied. Also, we can confirm the asymptotic behavior in the simulation when the stiffness is updated according to the given rule.

Experimental Study on Remote Manipulation Using Virtual Reality

1993 ◽  
Vol 2 (2) ◽  
pp. 112-124 ◽  
Author(s):  
Eimei Oyama ◽  
Naoki Tsunemoto ◽  
Susumu Tachi ◽  
Yasuyuki Inoue
Keyword(s):  
Virtual Reality ◽  
Impedance Control ◽  
Calibration System ◽  
Design Data ◽  
The Real ◽  
Real Environment ◽  
Remote Manipulation ◽  
Environment Model ◽  
Modeling Errors ◽  
Contact Tasks

To control a slave robot in poor visibility environments, an experimental extended teleexistence system using virtual reality was constructed. The environment model was constructed from the design data of the real environment. When virtual reality is used for controlling a slave robot, the modeling errors of the environment model must be calibrated. A model-based calibration system using image measurements is proposed for matching the real environment and the virtual environment. The slave robot has an impedance control system for contact tasks and for compensating for the errors that remain after the calibration. After the calibration, an experimental operation in a poor visibility environment was successfully conducted.

Adaptive Control Strategies for Coordination and Control of Mutliple Robots

2001 ◽  
Author(s):  
Abhijit Nagchaudhuri ◽  
Devendra P. Garg
Keyword(s):  
Adaptive Control ◽  
Impedance Control ◽  
Control Strategies ◽  
Robot Dynamics ◽  
Multiple Robots ◽  
Cartesian Space ◽  
Load Characteristics ◽  
And Control ◽  
Contact Tasks ◽  
Coordination And Control

Abstract The uncertainty associated with the robot dynamics for performing contact tasks have often necessitated the use of adaptive algorithms. This paper investigates the use of adaptive control and impedance control for a difficult contact task involving multiple robots handling a common heavy object. Simulations are performed using various trajectories in the Cartesian space, and uncertainties associated with payload as well as dynamic characteristics of the robots are considered. Three different trajectories are generated for motion of the object centroid between the same two locations in the Cartesian space. The simulations establish that the adaptive strategies proposed are not only robust to uncertainties in dynamic parameters and load characteristics but also with regard to speed of motion and trajectory alterations that may be necessary for considerations involving path planning and obstacle avoidance.

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