scholarly journals Research on Haptic Generating Control Law for SBW by Impedance Control Using Model Matching Assumed Shared Control Usage

2020 ◽  
pp. 1205-1212
Author(s):  
Toshio Ohta ◽  
Jianming Yang ◽  
Kyouka Yasuzumi ◽  
Kenji Takahata
Keyword(s):  
Impedance Control ◽  
Shared Control ◽  
Control Law ◽  
Model Matching

On the Spatial Compliance of Robotic Manipulators

1997 ◽  
Vol 119 (4) ◽  
pp. 839-844 ◽  
Author(s):  
E. D. Fasse
Keyword(s):  
Spatial Reasoning ◽  
Impedance Control ◽  
Control Law ◽  
Spatial Transformation ◽  
Compliance Control ◽  
Interactive Control ◽  
Control Schemes ◽  
Stiffness Control ◽  
Geometrical Version ◽  
Spatial Compliance

Interactive control schemes, such as stiffness control and impedance control, are widely accepted as a means to actively accommodate environmental forces, but have not been widely applied. This is in part because well-known controllers are parametrized in a mathematically convenient, but nonintuitive way. “Spatial compliance control” is a Euclidean-geometrical version of compliance control that is parametrized in an intuitive way. A family of compliances is introduced with spatial transformation properties that simplify spatial reasoning aspects of compliance parameter selection. A control law is derived assuming that the robot consists of a serial linkage of rigid links actuated by variable-effort actuators.

Iterative Learning Impedance Control in Gait Rehabilitation Robot

2014 ◽  
Vol 494-495 ◽  
pp. 1084-1087
Author(s):  
Fu Cheng Cao ◽  
Hai Xin Sun ◽  
Li Rong Wang
Keyword(s):  
Iterative Learning Control ◽  
Control Algorithm ◽  
Closed Loop ◽  
Impedance Control ◽  
Iterative Learning ◽  
Gait Rehabilitation ◽  
Control Law ◽  
Rehabilitation Robot ◽  
Simulation Results ◽  
Impedance Parameters

An iterative learning impedance control algorithm is presented to control a gait rehabilitation robot. According to the circumstances of the patient, the appropriate rehabilitation target impedance parameters are set. With the adoption of iterative learning control law, the impedance error in the closed loop is guaranteed to converge to zero and the iterative trajectories follow the desired trajectories over the entire operation interval. The effectiveness of the proposed method is shown through numerical simulation results.

Application of Robust Control Law for Linear Slider

2008 ◽  
Vol 2 (1) ◽  
pp. 34-42 ◽  
Author(s):  
Satoshi Yamamoto ◽  
◽  
Shinji Wakui
Keyword(s):  
Robust Control ◽  
Disturbance Observer ◽  
High Speed ◽  
Control Law ◽  
Model Matching ◽  
Positioning Accuracy ◽  
Control Laws ◽  
Modified Model ◽  
Applied Model ◽  
Model Following

The most important specifications in precision positioning are positioning accuracy and settling time. When a positioning sensor based on required specifications is installed in equipment, every effort is made to realize throughput, i.e., high-speed positioning. We applied model-matching 2-degree-of-freedom (DOF) control to a linear slider to realize positioning, but found that positioning waveforms were uneven under different conditions. To overcome this problem, we applied robust control laws, e.g., MM-2DOF with a disturbance observer, robust 2DOF control, and modelfollowing 2DOF control to the linear slider. A comparative study confirmed experimentally that robust 2DOF control was most suitable. To improve modelfollowing 2DOF control, we modified model-following 2DOF control and its robust positioning.

Dynamic multi-priority control in redundant robotic systems

Robotica ◽  
2013 ◽  
Vol 31 (7) ◽  
pp. 1155-1167 ◽  
Author(s):  
Hamid Sadeghian ◽  
Luigi Villani ◽  
Mehdi Keshmiri ◽  
Bruno Siciliano
Keyword(s):  
Null Space ◽  
Impedance Control ◽  
Robotic Systems ◽  
Whole Body ◽  
Control Law ◽  
Level Control ◽  
Redundant Robots ◽  
Dynamic Level ◽  
The Stability ◽  
Robot Body

SUMMARYThis paper presents a dynamic-level control algorithm to meet simultaneously multiple desired tasks based on allocated priorities for redundant robotic systems. It is shown that this algorithm can be treated as a general framework to achieve control over the whole body of the robot. The control law is an extension of the well-known acceleration-based control to the redundant robots, and considers also possible interactions with the environment occurring at any point of the robot body. The stability of this algorithm is shown and some of the previously developed results are formulated using this approach. To handle the interaction on robot body, null space impedance control is developed within the multi-priority framework. The effectiveness of the proposed approaches is evaluated by means of computer simulation.

Time Invariant Motion Controller for Physical Human Robot Interaction

2019 ◽  
Author(s):  
Juan D. Muñoz Osorio ◽  
Felipe Castañeda ◽  
Felix Allmendinger ◽  
Uwe E. Zimmermann
Keyword(s):  
Impedance Control ◽  
Maximum Velocity ◽  
Breast Cancer Diagnosis ◽  
Human Robot Interaction ◽  
Control Law ◽  
Ultrasound Scanning ◽  
Motion Controller ◽  
Robot Interaction ◽  
Human Disturbances ◽  
Time Invariant

Abstract In this paper, a new method to perform time-invariant motion is proposed. The approach uses the advantages of variable impedance control to have full interactivity with the human while tracing a desired path. The path is followed at maximum velocity while the human can disturb the robot at any instant and manipulate it far from the desired path without changing the control law. The method was proven in simulation and on a real torque-controlled serial manipulator (KUKA LWR iiwa). The chosen paths were designed to perform robotic assisted ultrasound scanning for breast cancer diagnosis. Results show that interactivity is allowed while keeping a low kinetic energy of the robot. Despite of human disturbances, the robot can keep tracing the path after the interaction is finished.

scholarly journals Implementation of impedance trajectory control on a 6-DoF manipulator

2018 ◽  
Vol 161 ◽  
pp. 03007 ◽  
Author(s):  
Igor Shardyko ◽  
Victor Titov
Keyword(s):  
Robot Manipulator ◽  
Impedance Control ◽  
Robotic System ◽  
Trajectory Control ◽  
Control Law ◽  
The Way

Aiming at enhancing the performance of a robotic system, i.e. of a robot manipulator, it is extremely important to ensure the safety of its functioning and the convenience of operating it. Special attention is required if there is a possibility of a collision, especially with costly equipment or with a person. Among the different means and approaches to prevent or react to such situations, implementation of forcetorque control is considered in this paper. A trajectory task is analysed and an impedance control law is employed to achieve the desired robot behaviour. The effectiveness of the approach has been verified by using a 6-DoF elbow manipulator to perform two types of operations: a peg-in-hole task and path execution with obstacles on the way.

The Analysis of Free-Floating Space Manipulator when Tracking Desired Force/Position

2015 ◽  
Vol 742 ◽  
pp. 560-566
Author(s):  
Long Zhang ◽  
Qing Xuan Jia ◽  
Gang Chen ◽  
Han Xu Sun
Keyword(s):  
Dynamic Model ◽  
Impedance Control ◽  
Position Tracking ◽  
Control Law ◽  
Double Loop ◽  
Space Manipulator ◽  
End Effector ◽  
Loop Control ◽  
Lagrange’S Equations ◽  
Lagrange's Equations

For free-floating space manipulator, a double loop control law is applied to the manipulator to achieve the force/position tracking of the end-effector, and the influence to the manipulator system is analyzed in this paper. First, the dynamic model is established based on Lagrange's equations. On this basis, a double loop control law which is based on the idea of impedance control is applied to the manipulator. During the force/position tracking, the influence of each part of free-floating space manipulator is analyzed, especially the base attitude disturbance. Finally, a simulation is given to show the analyze results.

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