An expanded impedance control scheme for slosh-free liquid transfer by a dual-arm cooperative robot

2020 ◽  
pp. 107754632096620
Author(s):  
Babak Naseri Soufiani ◽  
Mehmet Arif Adli
Keyword(s):  
High Speed ◽  
Control Method ◽  
Impedance Control ◽  
Kinematic Chain ◽  
Cylindrical Container ◽  
Robot Arms ◽  
Control Scheme ◽  
Liquid Transfer ◽  
Dual Arm ◽  
Multi Robot

The use of robots has been rapidly spreading in different daily applications. The transport of liquids by robot arms without causing any slosh is one of such applications which has recently taken the attention of researchers. Liquid transfer by dual-arm robots causes challenging problems because, in the process of dual-arm cooperation, a closed kinematic chain is formed and a set of constraints appears in motion, which increases the complexity of the process. In this study, an expanded impedance control was proposed for a dual-arm cooperative robot to achieve high speed for the transfer of a liquid-filled cylindrical container without sloshing. The impedance control method provides efficient results in controlling multi-robot interactions. However, a conventional impedance control is incapable of suppressing the slosh during liquid transfer. Therefore, in this study, we expand the impedance control by introducing a slosh suppression term, which leads to suppressing the slosh successfully during the transport of a liquid container. The effectiveness of the proposed controller was demonstrated for liquid transfer in a 2-D plane.

Impedance Control of Dual-Arm Systems Based on the Object with Senseless Force

2013 ◽  
Vol 765-767 ◽  
pp. 1920-1923
Author(s):  
Li Jiang ◽  
Yang Zhou ◽  
Bin Wang ◽  
Chao Yu
Keyword(s):  
Numerical Simulations ◽  
Relative Position ◽  
Position Control ◽  
Impedance Control ◽  
Force Sensors ◽  
Operational Space ◽  
Novel Approach ◽  
Control Scheme ◽  
Statics And Dynamics ◽  
Dual Arm

A novel approach to impedance control based on the object is proposed to control dual-arm systems with senseless force. Considering the motion of the object, the statics and dynamics of the dual-arm systems are modeled. Extending the dynamics of dual-arm system and the impedance of object to the operational space, impedance control with senseless force is presented. Simulations on a dual-arm system are carried out to demonstrate the performance of the proposed control scheme. Comparing with position control, results of numerical simulations show that the proposed scheme realizes suitable compliant behaviors in terms of the object, and minimizes the error of the relative position between the manipulators even without force sensors.

scholarly journals Research and Ground Verification of the Force Compliance Control Method for Space Station Manipulator

2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Bingshan Hu ◽  
Huanlong Chen ◽  
Liangliang Han ◽  
Hongliu Yu
Keyword(s):  
Real Time ◽  
Contact Force ◽  
Control Algorithm ◽  
Control Method ◽  
Impedance Control ◽  
Space Station ◽  
Gravity Compensation ◽  
Compliance Control ◽  
Experiment Platform ◽  
Dual Arm

The space station manipulator does lots of tasks with contact force/torque on orbit. To ensure the safety of the space station and the manipulator, the contact force/torque of manipulator must be controlled. Based on analyzing typical tasks’ working flows and force control requirements, such as ORU (orbit replacement unit) changeout and dual arm collaborative payload transport, an impedance control method based on wrist 6 axis force/torque feedback is designed. For engineering implementation of the impedance control algorithm, the discretization method and impedance control parameters selection principle are also studied. To verify the compliance control algorithm, a ground experiment platform adopting industrial manipulators is developed. In order to eliminate the influence of gravity, a real-time gravity compensation algorithm is proposed. Then, the correctness of real-time gravity compensation and force compliance control algorithm is verified on the experiment platform. Finally, the ORU replacement and dual arm collaborative payload transport experiments are done. Experimental results show that the force compliance control method proposed in this paper can control the contact force and torque at the end of the manipulator when executing typical tasks.

Impedance Control of Gyroscopic Power Generator

2011 ◽  
Author(s):  
Tomoyuki Takahashi ◽  
Jun Iwasaki ◽  
Hiroshi Hosaka
Keyword(s):  
Steady State ◽  
Phase Difference ◽  
High Speed ◽  
Control Method ◽  
Impedance Control ◽  
Low Frequency ◽  
Power Generator ◽  
Communication Devices ◽  
High Speed Rotation ◽  
The Stability

The gyroscopic power generator produces a high-speed rotation of magnets from low-frequency vibrations and supplies electric power to information and communication devices that use human vibrations in daily life. In this paper, in order to increase the stability and the output power of the generator, a simple equation that indicates the steady state approximate solution of the phase difference is derived. From the derived solution, a control method for the steady state is verified by the simulations. In order to maintain the stability and high power generation for variable input vibrations, the impedance control method using the phase difference is developed and verified experimentally.

scholarly journals Aerial Physical Interaction in Grabbing Conditions with Lightweight and Compliant Dual Arms

2020 ◽  
Vol 10 (24) ◽  
pp. 8927
Author(s):  
Alejandro Suarez ◽  
Pedro J. Sanchez-Cuevas ◽  
Guillermo Heredia ◽  
Anibal Ollero
Keyword(s):  
Impedance Control ◽  
Physical Interaction ◽  
Position Sensor ◽  
Aerial Manipulation ◽  
End Effector ◽  
Control Scheme ◽  
External Forces ◽  
Dual Arm ◽  
Manipulation Robot ◽  
Aerial Platform

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.

Study on Integration Control of Air Suspension and ABS

2010 ◽  
Vol 139-141 ◽  
pp. 2626-2630 ◽  
Author(s):  
Shi Rong Yan ◽  
Song Jun Lu
Keyword(s):  
High Speed ◽  
Control Method ◽  
Research Work ◽  
Control Technique ◽  
Vertical Acceleration ◽  
Simulink Simulation ◽  
Air Suspension ◽  
Control Scheme ◽  
Long Time ◽  
Braking Distance

In order to get good car rideability, the electronic air suspensions(EAS) are now used in some advanced automotives. Although ABS systems are used in automotives for a long time, in some limit cases such as cornering at high speeds, cars may be still in great dangerous states. It is considered that if electronic air suspensions(EAS) can be adjusted with ABS during some extreme conditions, the cars may become safer. To investigate this possibility and then find out a specific control scheme, some research work is done in the paper. The research work begins from the dynamic analysis for cars with EAS and ABS both, and then based on it an integration control scheme for EAS and ABS is put forward. By means of Matlab/Simulink simulation study, it is found that the braking performances such as braking distance, braking deceleration, and the car vertical acceleration are improved obviously with the integration control technique for both of EAS and ABS during high speed cornering. Therefore the integration control method developed here can work well and improve the car performances obviously.

Study on Dynamic Hybrid Position/Force Control of Two Coordinated Manipulators

2012 ◽  
Vol 468-471 ◽  
pp. 1224-1230 ◽  
Author(s):  
Guo Dong Chen
Keyword(s):  
Force Control ◽  
Control Method ◽  
Object Motion ◽  
Rigid Object ◽  
Control Scheme ◽  
Coordination System ◽  
Dynamic Hybrid ◽  
Dual Arm Robot ◽  
Definition Of ◽  
Dual Arm

A dynamic hybrid position/force control method is developed for the coordination of two manipulators of a dual-arm robot to cope with the case of dual-arm tightly cooperate a common rigid object in the presence of environmental constraint. Begin with the definition of a group of generalized motion and force vectors used for task description, and by synthesizing the object dynamics and manipulator dynamics, an object-oriented dynamic equation of the dual-arm rigid coordination system is first derived, where relationships between object motion, internal stress force, and environmental contact force are explicitly presented. Furthermore, this equation and that of single arm dynamics in Cartesian still remain the same form. Based on this definition and description, the dynamic hybrid position/force control scheme for dual-arm symmetric coordination is then designed, and the decomposition and parallel realization of the control algorithm is also discussed. Several experiments have been done on two coordinated PUMA562 robot manipulators, which show that the proposed method works effectively, where the object motion and internal/external force can be simultaneously controlled during cooperation.

scholarly journals Design and Implementation of Admittance Control for a Dual-Arm Robot under Space Limitation

2019 ◽  
Vol 256 ◽  
pp. 02010
Author(s):  
Jinxing Yang ◽  
Yinhui Xie ◽  
Mingqi Feng ◽  
Jun Li
Keyword(s):  
High Speed ◽  
Control Algorithm ◽  
Control Method ◽  
Industrial Robots ◽  
Admittance Control ◽  
Human Machine Interaction ◽  
Space Limitation ◽  
Dual Arm Robot ◽  
Point To Point ◽  
Dual Arm

Aimed at the situation lack of suitable industrial robots with speed requirement and space limitation, a novel simple structured and high speed dual-arm robot is designed. The robot control system has been achieved by using high speed controller, real-time bus EtherCAT and integrating the sensor system via Ethernet interface. Kinematic and dynamic analysis are the basis of its kinematic control and trajectory planning. This paper presents a force-free control method for direct teaching of the robot and adopts a Cartesian admittance control algorithm to realize human-machine interaction. The admittance control is conducted by utilizing six-dimensional force/torque sensor fixed to the end-effector of manipulator. To evaluate the performance of the proposed controller and control algorithm, a point-to-point teaching task is conducted.

Myoelectric Teleoperation of a Dual-Arm Manipulator Using Neural Networks

2011 ◽  
pp. 154-176 ◽  
Author(s):  
Toshio Tsuji ◽  
Kouji Tsujimura ◽  
Yoshiyuki Tanaka
Keyword(s):  
Petri Net ◽  
Control Method ◽  
Impedance Control ◽  
Probabilistic Neural Network ◽  
Gaussian Mixture ◽  
Prototype System ◽  
Contact Impedance ◽  
Hand Motion ◽  
Emg Patterns ◽  
Dual Arm

In this chapter, an advanced intelligent dual-arm manipulator system teleoperated by EMG signals and hand positions is described. This myoelectric teleoperation system employs a probabilistic neural network, so called log-linearized Gaussian mixture network (LLGMN), to gauge the operator’s intended hand motion from EMG patterns measured during tasks. In addition, an event-driven task model using Petri net and a non-contact impedance control method are introduced to allow a human operator to maneuver a couple of robotic manipulators intuitively. A set of experimental results demonstrates the effectiveness of the developed prototype system.

Energy Optimal Control Design for Steer-by-Wire Systems and Hardware-in-the-Loop Simulation Evaluation

2015 ◽  
Vol 137 (7) ◽  
Author(s):  
M. Selçuk Arslan ◽  
Naoto Fukushima
Keyword(s):  
Optimal Control ◽  
High Speed ◽  
Control Method ◽  
Full Range ◽  
Control Design ◽  
Hardware In The Loop ◽  
Yaw Rate ◽  
Control Scheme ◽  
Steer By Wire ◽  
Hil Simulation

A Steer-By-Wire (SBW) control scheme is proposed for enhancing the lateral stability and handling capability of a super lightweight vehicle by using the energy optimal control method. Tire dissipation power and virtual power, which is the product of yaw moment and the deviation of actual yaw rate from the target yaw rate, were selected as performance measures to be minimized. The SBW control scheme was tested using Hardware-In-the-Loop (HIL) simulation on an SBW test rig. The case studies performed were high-speed rapid lane change, crosswind, and braking-in-a-turn. HIL simulation results showed that the SBW control scheme was able to maintain vehicle stability. The proposed SBW control design taking advantage of the full range steering of front wheel, significantly improves the vehicle handling capability. The results also demonstrate the importance of SBW control for super lightweight vehicles.

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