scholarly journals Force Sensor-less Workspace Virtual Impedance Control Considering Resonant Vibration for Industrial Robot

2007 ◽  
Vol 127 (1) ◽  
pp. 1-8 ◽  
Author(s):  
Somsawas Tungpataratanawong ◽  
Kiyoshi Ohishi ◽  
Toshimasa Miyazaki ◽  
Seiichiro Katsura
Keyword(s):  
Impedance Control ◽  
Industrial Robot ◽  
Force Sensor ◽  
Resonant Vibration ◽  
Virtual Impedance

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.

Integrated virtual impedance control based pose correction for a simultaneous three-fingered end-effector

2018 ◽  
Vol 45 (2) ◽  
pp. 255-266 ◽  
Author(s):  
Hong Liu ◽  
Jun Wu ◽  
Shaowei Fan ◽  
Minghe Jin ◽  
Chunguang Fan
Keyword(s):  
Position Control ◽  
Impedance Control ◽  
Industrial Robot ◽  
Estimation Error ◽  
Correction Method ◽  
Robotic Assembly ◽  
End Effector ◽  
Content Type ◽  
Smooth Transitions ◽  
Virtual Impedance

Purpose This paper aims to present a pose correction method based on integrated virtual impedance control for avoiding collision and reducing impact. Design/methodology/approach The authors first constructed the artificial potential field (APF) considering the geometric characteristics of the end-effector. The characteristics of the proposed field were analyzed considering the position and orientation misalignment. Then, an integrated virtual impedance control was proposed by adding resultant virtual repulsive force into traditional impedance control. Finally, the authors modified a correction trajectory for avoiding collision and reducing impact with virtual force and contact force. Findings The APF the authors constructed can get rid of a local minimum. Comparing with linear correction, this method is able to avoid collision effectively. When the capturing target has intrinsic estimation error, the pose correction can ensure smooth transitions among different stages. Practical implications This method can be implemented on a manipulator with inner position control. It can be applied to an industrial robot with applications on robotic assembly for achieving a softer and smoother process. The method can also be expanded to the kind of claw-shaped end-effectors for capturing target. Originality value As the authors know, it is the first time that the characteristics of the end-effector are considered for avoiding collision in capturing application. The proposed integrated virtual impedance control can provide smooth transitions among different stages without switching different force/position controllers.

An Islanding Microgrid Power Sharing Approach Using Enhanced Virtual Impedance Control Scheme

2013 ◽  
Vol 28 (11) ◽  
pp. 5272-5282 ◽  
Author(s):  
Jinwei He ◽  
Yun Wei Li ◽  
Josep M. Guerrero ◽  
Frede Blaabjerg ◽  
Juan C. Vasquez
Keyword(s):  
Impedance Control ◽  
Power Sharing ◽  
Control Scheme ◽  
Virtual Impedance

scholarly journals Adaptive complex virtual impedance control scheme for accurate reactive power sharing of inverter interfaced autonomous microgrids

2018 ◽  
Vol 12 (22) ◽  
pp. 6021-6032 ◽  
Author(s):  
Farshad Zandi ◽  
Bahador Fani ◽  
Iman Sadeghkhani ◽  
Ardavan Orakzadeh
Keyword(s):  
Reactive Power ◽  
Impedance Control ◽  
Power Sharing ◽  
Control Scheme ◽  
Virtual Impedance

scholarly journals Consensus Control for Reactive Power Sharing Using an Adaptive Virtual Impedance Approach

Energies ◽  
2020 ◽  
Vol 13 (8) ◽  
pp. 2026 ◽  
Author(s):  
Ahmed S. Alsafran ◽  
Malcolm W. Daniels
Keyword(s):  
Rate Of Convergence ◽  
Reactive Power ◽  
Impedance Control ◽  
Power Sharing ◽  
Control Methods ◽  
Triangle Mesh ◽  
Secondary Control ◽  
Consensus Control ◽  
Communication Topology ◽  
Virtual Impedance

Reactive power sharing among distributed generators (DGs) in islanded microgrids (MGs) presents control challenges, particularly in the mismatched feeder line condition. Improved droop control methods independently struggle to resolve this issue and centralized secondary control methods exhibit a high risk of collapse for the entire MG system under any failure in the central control. Distributed secondary control methods have been recently proposed to mitigate the reactive power error evident in the presence of mismatched feeder lines. This paper details a mathematical model of an adaptive virtual impedance control that is based on both leaderless and leader-followers consensus controls with a novel triangle mesh communication topology to ensure accurate active and reactive power sharing. The approach balances an enhanced rate of convergence with the anticipated implementation cost. A MATLAB/Simulink model with six DG units validates the proposed control performance under three different communication structures: namely, ring, complete, and triangle mesh topologies. The results suggest that leaderless consensus control is a reliable option with large DG systems, while the leader-followers consensus control is suitable for the small systems. The triangle mesh communication topology provides a compromise approach balancing the rate of convergence and the expected cost. The extensibility and scalability are advantages of this topology over the alternate ring and complete topologies.

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