Experiments of position and force control for 3-link dual-arm underwater robot using resolved acceleration control method for UVMS

2019 ◽  
Vol 2019 (0) ◽  
pp. 2A2-H09
Author(s):  
Takayuki KAWAGUCHI ◽  
Shingo YAMAMOTO ◽  
Yutaka SEKI ◽  
Shinichi SAGARA ◽  
Fumiaki TAKEMURA
Keyword(s):  
Force Control ◽  
Control Method ◽  
Underwater Robot ◽  
Resolved Acceleration Control ◽  
Dual Arm

Experiment on a dual-arm underwater robot using resolved acceleration control method

2014 ◽  
Vol 20 (1) ◽  
pp. 34-41 ◽  
Author(s):  
Radzi Bin Ambar ◽  
Shinichi Sagara ◽  
Kenichi Imaike
Keyword(s):  
Control Method ◽  
Underwater Robot ◽  
Resolved Acceleration Control ◽  
Dual Arm

Compliant Control for the Redundant Dual-Arm Live-Working Robot

2013 ◽  
Vol 459 ◽  
pp. 177-182
Author(s):  
Huan Bing Gao ◽  
Shou Yin Lu ◽  
Guo Hui Tian
Keyword(s):  
Dynamic Model ◽  
Force Control ◽  
Stiffness Matrix ◽  
Control Method ◽  
Total System ◽  
Kinematic Structure ◽  
Compliant Control ◽  
Dual Arm

Two arms are attached on the live-working robot for cooperating jobs and some task requiring larger stiffness such as pushing and butting when replacing cross arm or insulator. The different kinematic structure of this two arms brings many difficulties to get the dynamic model of the total system. This paper proposes a force control method to solve this problem. Two arms are considered as one arm firstly, then the general stiffness matrix is obtained. And based on the compliant relationship between the dual arms and the environment, the force control method for the exact force control is presented. The scheme is experimentally tested on the live-working robot, and the effectiveness and rapidity is validated .

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 Coordinated compliance control of dual-arm robot astronaut for payload operation

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110128
Author(s):  
Bingshan Hu ◽  
Lei Yan ◽  
Liangliang Han ◽  
Hongliu Yu
Keyword(s):  
Force Control ◽  
Position Control ◽  
Control Method ◽  
Constraint Equation ◽  
Control Mode ◽  
Control Methods ◽  
Compliance Control ◽  
Closed Chain ◽  
Dual Arm Robot ◽  
Dual Arm

Dual-arm robot astronaut has more general and dexterous operation ability than single-arm robot, and it can interact with astronaut more friendly. The robot will inevitably use both arms to grasp payloads and transfer them. The force control of the arms in closed chains is an important problem. In this article, the coordinated kinematic and dynamic equations of the dual-arm astronaut are established by considering the closed-chain constraint relationship. Two compliance control methods for dual-arm astronaut coordinated payload manipulating are proposed. The first method is called master–slave force control and the second is the shared force control. For the former, the desired path and operational force of the master arm should be given in advance and that of slave arm are calculated from the dual-arm robot closed-chain constraint equation. In the share control mode, the desired path and end operational force of dual arms are decomposed from the dual-arm robot closed-chain constraint equation directly and equally. Finally, the two control algorithms are verified by simulation. The results of analysis of variance of the simulation data show that the two control methods have no obvious difference in the accuracy of force control but the second control method has a higher position control accuracy, and this proves that the master–slave mode is better for tasks with explicit force distribution requirements and the shared force control is especially suitable for a high-precision requirement.

Constant force control for aluminum wheel hub grinding based on ESO + backstepping

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Shijie Dai ◽  
Yufeng Zhao ◽  
Wenbin Ji ◽  
Jiaheng Mu ◽  
Fengbao Hu
Keyword(s):  
Control Strategy ◽  
Force Control ◽  
Control Method ◽  
Response Speed ◽  
Backstepping Control ◽  
Constant Force ◽  
Content Type ◽  
Disturbance Rejection Control ◽  
The Stability ◽  
Differential Control

Purpose This paper aims to present a control method to realize the constant force grinding of automobile wheel hub. Design/methodology/approach A constant force control strategy combined by extended state observer (ESO) and backstepping control is proposed. ESO is used to estimate the total disturbance to improve the anti-interference and stability of the system and Backstepping control is used to improve the response speed of the system. Findings The simulation and grinding experimental results show that, compared with the proportional integral differential control and active disturbance rejection control, the designed controller can improve the dynamic response performance and anti-interference ability of the system and can quickly track the expected force and improve the grinding quality of the hub surface. Originality/value The main contribution of this paper lies in the proposed of a new constant force control strategy, which significantly improved the stability and precision of grinding force.

A novel adaptive force control method for IPMC manipulation

2012 ◽  
Vol 21 (7) ◽  
pp. 075016 ◽  
Author(s):  
Lina Hao ◽  
Zhiyong Sun ◽  
Zhi Li ◽  
Yunquan Su ◽  
Jianchao Gao
Keyword(s):  
Force Control ◽  
Control Method ◽  
Adaptive Force Control

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.

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