Impedance Control: An Approach to Manipulation: Part III—Applications

1985 ◽  
Vol 107 (1) ◽  
pp. 17-24 ◽  
Author(s):  
Neville Hogan
Keyword(s):  
Feedback Control ◽  
Path Planning ◽  
Control Algorithm ◽  
Moving Objects ◽  
Impedance Control ◽  
Optimization Theory ◽  
Dynamic Interaction ◽  
Unified Approach ◽  
Simplified Analysis ◽  
Unconstrained Motion

This three-part paper presents a unified approach to the control of a manipulator applicable to free motions, kinematically constrained motions, and dynamic interaction between the manipulator and its environment. In Part I the approach was developed from a consideration of the fundamental mechanics of manipulation. Part II presented techniques for implementing a desired manipulator impedance. In Part III a technique for choosing the impedance appropriate to a given application using optimization theory is presented. Based on a simplified analysis it is shown that if the task objective is to tradeoff interface forces and motion errors, the manipulator impedance should be proportional to the environmental admittance. An application of impedance control to unconstrained motion is presented. The superposition properties of nonlinear impedances are used to develop a real-time feedback control algorithm which permits a manipulator to avoid unpredictably moving objects without explicit path planning.

Impedance Control: An Approach to Manipulation: Part II—Implementation

1985 ◽  
Vol 107 (1) ◽  
pp. 8-16 ◽  
Author(s):  
Neville Hogan
Keyword(s):  
Feedback Control ◽  
Inverse Kinematics ◽  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Impedance Control ◽  
Dynamic Interaction ◽  
End Point ◽  
Inverse Kinematics Problem ◽  
Theoretical Reasoning ◽  
Redundant Actuators

This three-part paper presents an approach to the control of dynamic interaction between a manipulator and its environment. Part I presented the theoretical reasoning behind impedance control. In Part II the implementation of impedance control is considered. A feedback control algorithm for imposing a desired cartesian impedance on the end-point of a nonlinear manipulator is presented. This algorithm completely eliminates the need to solve the “inverse kinematics problem” in robot motion control. The modulation of end-point impedance without using feedback control is also considered, and it is shown that apparently “redundant” actuators and degrees of freedom such as exist in the primate musculoskeletal system may be used to modulate end-point impedance and may play an essential functional role in the control of dynamic interaction.

Human-Robot Interactive Control Sharing Same Workspace

2000 ◽  
Author(s):  
Jae Y. Lew ◽  
Yung-Tsan Jou ◽  
Hajrudin Pasic
Keyword(s):  
Feedback Control ◽  
Path Planning ◽  
Motion Planning ◽  
Simulation Study ◽  
Control Algorithm ◽  
Unexpected Events ◽  
Interactive Control ◽  
Control Scheme ◽  
Basic Motion

Abstract The paper presents a basic motion planning / feedback control algorithm for a robot working with a human in the same workspace. With the proposed control scheme, robots can be safe and easy to use when unexpected events occur. The algorithm is based on: (1) inertia reduction (2) passivity and (3) parametric path planning. A preliminary simulation study is performed to show its effectiveness with a two link manipulator.

Space robot motion path planning based on fuzzy control algorithm

2021 ◽  
pp. 1-8
Author(s):  
Baoyu Shi ◽  
Hongtao Wu
Keyword(s):  
Path Planning ◽  
Fuzzy Control ◽  
Obstacle Avoidance ◽  
Control Algorithm ◽  
Space Robot ◽  
Robot Motion ◽  
Robot Path Planning ◽  
Behavior Based ◽  
Fuzzy Control Algorithm ◽  
Robot Path

Path planning technology is one of the core technologies of intelligent space robot. Combining image recognition technology and artificial intelligence learning algorithm for robot path planning in unknown space environment has become one of the hot research issues. The purpose of this paper is to propose a spatial robot path planning method based on improved fuzzy control, aiming at the shortcomings of path planning in the current industrial space robot motion control process, and based on fuzzy control algorithm. This paper proposes a fuzzy obstacle avoidance method with speed feedback based on the original advantages of the fuzzy algorithm, which improves the obstacle avoidance performance of space robot under continuous obstacles. At the same time, we integrated the improved fuzzy obstacle avoidance strategy into the behavior-based control technology, making the avoidance become an independent behavioral unit. Divide the path planning into a series of relatively independent behaviors such as fuzzy obstacle avoidance, cruise, trend target, and deadlock by the behavior-based method. According to the interaction information between the space robot and the environment, each behavior acquires the dominance of the robot through the competition mechanism, making the robot complete the specific behavior at a certain moment, and finally realize the path planning. Furthermore, to improve the overall fault tolerance of the space, robot we introduced an elegant downgrade strategy, so that the robot can successfully complete the established task in the case of control command deterioration or failure of important information, avoiding the overall performance deterioration effectively. Therefore, through the simulation experiment of the virtual environment platform, MobotSim concluded that the improved algorithm has high efficiency, high security, and the planned path is more in line with the actual situation, and the method proposed in this paper can make the space robot successfully reach the target position and optimize the spatial path, it also has good robustness and effectiveness.

scholarly journals Realization of Force Detection and Feedback Control for Slave Manipulator of Master/Slave Surgical Robot

Sensors ◽  
2021 ◽  
Vol 21 (22) ◽  
pp. 7489
Author(s):  
Hu Shi ◽  
Boyang Zhang ◽  
Xuesong Mei ◽  
Qichun Song
Keyword(s):  
Feedback Control ◽  
Force Feedback ◽  
Impedance Control ◽  
Three Dimensional ◽  
Surgical Instruments ◽  
Force Output ◽  
Software Environment ◽  
Force Detection ◽  
Academic Field ◽  
Learning Machine

Robot-assisted minimally invasive surgery (MIS) has received increasing attention, both in the academic field and clinical operation. Master/slave control is the most widely adopted manipulation mode for surgical robots. Thus, sensing the force of the surgical instruments located at the end of the slave manipulator through the main manipulator is critical to the operation. This study mainly addressed the force detection of the surgical instrument and force feedback control of the serial surgical robotic arm. A measurement device was developed to record the tool end force from the slave manipulator. An elastic element with an orthogonal beam structure was designed to sense the strain induced by force interactions. The relationship between the acting force and the output voltage was obtained through experiment, and the three-dimensional force output was decomposed using an extreme learning machine algorithm while considering the nonlinearity. The control of the force from the slave manipulator end was achieved. An impedance control strategy was adopted to restrict the force interaction amplitude. Modeling, simulation, and experimental verification were completed on the serial robotic manipulator platform along with virtual control in the MATLAB/Simulink software environment. The experimental results show that the measured force from the slave manipulator can provide feedback for impedance control with a delay of 0.15 s.

scholarly journals Robust H ∞ state-feedback control for linear systems

2017 ◽  
Vol 473 (2200) ◽  
pp. 20160934 ◽  
Author(s):  
Hao Chen ◽  
Zhenzhen Zhang ◽  
Huazhang Wang
Keyword(s):  
Feedback Control ◽  
Linear Systems ◽  
Control Algorithm ◽  
State Feedback ◽  
Convex Combination ◽  
State Feedback Control ◽  
Parameter Uncertainties ◽  
Globally Asymptotically Stable ◽  
Loop Control ◽  
Control Approach

This paper investigates the problem of robust H ∞ control for linear systems. First, the state-feedback closed-loop control algorithm is designed. Second, by employing the geometric progression theory, a modified augmented Lyapunov–Krasovskii functional (LKF) with the geometric integral interval is established. Then, parameter uncertainties and the derivative of the delay are flexibly described by introducing the convex combination skill. This technique can eliminate the unnecessary enlargement of the LKF derivative estimation, which gives less conservatism. In addition, the designed controller can ensure that the linear systems are globally asymptotically stable with a guaranteed H ∞ performance in the presence of a disturbance input and parameter uncertainties. A liquid monopropellant rocket motor with a pressure feeding system is evaluated in a simulation example. It shows that this proposed state-feedback control approach achieves the expected results for linear systems in the sense of the prescribed H ∞ performance.

An Analytical Treatment of the Delayed Feedback Control Algorithm

2008 ◽  
pp. 47-71
Author(s):  
Kestutis Pyragas ◽  
Tatjana Pyragien ◽  
Viktoras Pyragas
Keyword(s):  
Feedback Control ◽  
Control Algorithm ◽  
Delayed Feedback ◽  
Delayed Feedback Control ◽  
Analytical Treatment

Research on Digital Control of Meter-In and Meter-Out Independent Regulating for High Inertia Load

1999 ◽  
Author(s):  
Qingfeng Wang ◽  
Linyi Gu ◽  
Yongxiang Lu
Keyword(s):  
Control System ◽  
Feedback Control ◽  
Dynamic Process ◽  
Control Algorithm ◽  
Damping Ratio ◽  
State Feedback Control ◽  
Hydraulic Systems ◽  
Outlet Pressure ◽  
Acceleration And Deceleration ◽  
Valve Control

Abstract The smoothness of acceleration and deceleration process is a serious problem in valve control system with high inertia load, especially in the hydraulic systems in construction machines. In this paper, a meter-in and meter-out independent regulating method, in which the two sides of actuator are controlled by a meter-in valve and a meter-out valve respectively, is put forward, in one hand, the meter-out valve could control the actuator’s outlet pressure to avoid the ultra-high outlet pressure when actuator decelerates or brakes suddenly. On the other hand, the dynamic damping ratio of valve control system could be raised through calculated flow feedback control algorithm. Secondly, a grading control algorithm in dynamic process of high inertia load is adopted. When the actuator’s velocity is far from its command value, the actuator’s inlet and outlet pressure are controlled. After the velocity error decrease to a threshold, a state feedback control algorithm based on parameters on line estimating is employed to realize both its velocity accuracy and the smoothness of dynamic process. Experiments show that the actuator’s velocity could increase or decrease to its command value accurately, smoothly and rapidly after the above method and algorithm are applied.

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