Contact Stability Analysis and Experiment of the Impedance Control Method Implemented to an Industrial Robot Arm

2000 ◽  
Vol 2000.7 (0) ◽  
pp. 422-427
Author(s):  
Shuichiro FUKUZAWA
Keyword(s):  
Stability Analysis ◽  
Control Method ◽  
Impedance Control ◽  
Industrial Robot ◽  
Robot Arm ◽  
Contact Stability

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 Research on Control Strategy of Manipulator Based on Simulation

2021 ◽  
Vol 2093 (1) ◽  
pp. 012007
Author(s):  
JiaLei Su
Keyword(s):  
Control Method ◽  
Impedance Control ◽  
Rapid Development ◽  
Space Robot ◽  
Space Environment ◽  
Robotic Arm ◽  
Control Element ◽  
Feedback Signal ◽  
Robot Arm ◽  
Control Effect

Abstract The force supple control method of robotic arm has been widely researched internationally for many years, and its specific use varies according to the structure of the robotic arm, the location of the sensor, the working space environment, and other factors. Based on the force control principle and control method of the space robot arm, this paper adopts the position-based Cartesian spatial impedance control and proposes an effective forcesmoothing control method after pre-processing the feedback signal of the six-dimensional force sensor installed at the end of the space robot arm with the coordinate system conversion. In addition, the proposed position-based Cartesian spatial impedance control method is modeled and simulated to analyze the effect of each control element on the force-following control effect, to find out the control conditions that can optimize the force-position control effect, and finally to optimize the impedance parameters. This study aims to promote the rapid development of the field of robotic arm control.

scholarly journals Training Robot Arm 5 Degree of Freedom for Tracking the desired route using MLP

2017 ◽  
Vol 2 (3) ◽  
pp. 232-239
Author(s):  
Zahed Kamangar ◽  
Soran Saeed ◽  
Asrin Zardoie
Keyword(s):  
Neural Network ◽  
Control Method ◽  
Vision System ◽  
Industrial Robot ◽  
Robot Arm ◽  
Static State ◽  
Voltage Range ◽  
End Point ◽  
Working Space ◽  
Neural Network Input

This paper work presents a new method of controlling the robot arm. The control system is the most important part of industrial robot. In industrial robot arms, it is very important to control the desired path and direction. In this paper, the presented control method is a multilayer neural network. Which controls and compares the location of the joins at the end point of the path relative to the zero position (the beginning of the path-static state). And try to learn the ultimate position of each joints due to changes in angles and direction of movement to carry out the motion process. The superiority of this method is that it can operate without considering 3D space (working space), the dynamic equations, and have Cartesian coordinates of the points on the desired path. Innovating this method of controlling the choice of the route is based on feedback from the vision system and human intelligence. This way, the operator selects and applies how to move the joints and the links of the robot and the method of walking the path. Applying the path through the movement of links and motion of joints and changing their angles in order to reach the end effector to the end point of the path. In this system, using the potentiometers (volumes) as an encoder connected to the axis of the joints, it is possible to obtain the location of the joints on the basis of variations in the voltage range and convert it to the equivalent digital 1024-0 values as has been used the MLP neural network input.

Design and performance analysis of an industrial robot arm for robotic drilling process

2019 ◽  
Vol 46 (1) ◽  
pp. 7-16 ◽  
Author(s):  
Longfei Sun ◽  
Fengyong Liang ◽  
Lijin Fang
Keyword(s):  
Control Method ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Ball Screw ◽  
Robotic Arm ◽  
Drilling Process ◽  
Robot Arm ◽  
Content Type ◽  
Robotic Drilling

Purpose The purpose of this paper is to present a robotic arm that can offer better stiffness than traditional industrial robots for improving the quality of holes in robotic drilling process. Design/methodology/approach The paper introduces a five-degree of freedom (DOF) robot, which consists of a waist, a big arm, a small arm and a wrist. The robotic wrist is composed of two DOFs of pitching and tilting. A parallelogram frame is used for robotic arms, and the arm is driven by a linear electric cylinder in the diagonal direction. Double screw nuts with preload are used in the ball screw to remove the reverse backlash. In addition, dual-motor drive is applied for each DOF in the waist and the wrist to apply anti-backlash control method for eliminating gear backlash. Findings The proposed robotic arm has the potential for improving robot stiffness because of its truss structure. The robot can offer better stiffness than industrial robots, which is beneficial to improve the quality of robotic drilling holes. Originality/value This paper includes the design of a five-DOF robot for robotic drilling tasks, and the stiffness modeling of the robot is presented and verified by the experiment. The robotic system can be used instead of traditional industrial robots for improving the hole quality to a certain extent.

Discontinuous Control and Stability Analysis of Step-Down DC-DC Voltage Converters

2020 ◽  
Vol 38 (3A) ◽  
pp. 446-456
Author(s):  
Bashar F. Midhat
Keyword(s):  
Stability Analysis ◽  
Lyapunov Stability ◽  
Control Method ◽  
Power Electronic ◽  
Electronic Circuits ◽  
Dc Voltage ◽  
Power Electronic Circuits ◽  
Lyapunov Stability Criterion ◽  
Control Step ◽  
Step Down

Step down DC-DC converters are power electronic circuits, which mainly used to convert voltage from a level to a lower level. In this paper, a discontinuous controller is proposed as a control method in order to control Step-Down DC-DC converters. A Lyapunov stability criterion is used to mathematically prove the ability of the proposed controller to give the desired voltage. Simulationsl1 are performedl1 in MATLABl1 software. The simulationl1 resultsl1 are presentedl1 for changesl1 in referencel1 voltagel1 and inputl1 voltagel1 as well as stepl1 loadl1 variations. The resultsl1 showl1 the goodl1 performancel1 of the proposedl1 discontinuousl1 controller.

Impedance Control Based Sliding Mode for Lower Limb Rehabilitation Robot

2014 ◽  
Vol 672-674 ◽  
pp. 1770-1773 ◽  
Author(s):  
Fu Cheng Cao ◽  
Li Min Du
Keyword(s):  
Dynamic Response ◽  
Sliding Mode Control ◽  
Lower Limb ◽  
Control Method ◽  
Sliding Mode ◽  
Impedance Control ◽  
Rehabilitation Robot ◽  
Active Rehabilitation ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Aimed at improving the dynamic response of the lower limb for patients, an impedance control method based on sliding mode was presented to implement an active rehabilitation. Impedance control can achieve a target-reaching training without the help of a therapist and sliding mode control has a robustness to system uncertainty and vary limb strength. Simulations demonstrate the efficacy of the proposed method for lower limb rehabilitation.

Sign in / Sign up

Export Citation Format

Share Document