Force Tracking Impedance Control for Robot Manipulators with an Unknown Environment: Theory, Simulation, and Experiment

2001 ◽  
Vol 20 (9) ◽  
pp. 765-774 ◽  
Author(s):  
Seul Jung ◽  
T. C. Hsia ◽  
R. G. Bonitz
Keyword(s):  
Impedance Control ◽  
Robot Manipulators ◽  
Unknown Environment ◽  
Force Tracking ◽  
Simulation And Experiment

scholarly journals Force tracking control for motion synchronization in human-robot collaboration

Robotica ◽  
2014 ◽  
Vol 34 (6) ◽  
pp. 1260-1281 ◽  
Author(s):  
Yanan Li ◽  
Shuzhi Sam Ge
Keyword(s):  
Impedance Control ◽  
Rigorous Analysis ◽  
Human Partner ◽  
Control Framework ◽  
Force Tracking ◽  
Simulation And Experiment ◽  
Point To Point ◽  
Human Limb ◽  
Human Robot Collaboration ◽  
Motion Synchronization

SUMMARYIn this paper, motion synchronization is investigated for human–robot collaboration such that the robot is able to “actively” follow its human partner. Force tracking is achieved with the proposed method under the impedance control framework, subject to uncertain human limb dynamics. Adaptive control is developed to deal with point-to-point movement, and learning control and neural networks control are developed to generate periodic and arbitrary continuous trajectories, respectively. Stability and tracking performance of the closed-loop system are discussed through rigorous analysis. The validity of the proposed method is verified through simulation and experiment studies.

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