Research on the Space Manipulator Control in Capturing Object Based on Noncontact Impedance Control

2012 ◽  
Vol 546-547 ◽  
pp. 1014-1019 ◽  
Author(s):  
Zhi Gang Chen ◽  
Cui Ru Wu ◽  
Guang Yu Zhang
Keyword(s):  
Control Method ◽  
Impedance Control ◽  
Joint Space ◽  
Space Manipulator ◽  
Object Based ◽  
Space Manipulators ◽  
Impedance Parameters ◽  
The Impact ◽  
Virtual Impedance ◽  
Manipulator Control

This paper discusses the control of free flying space manipulators in the impact process which happens in the capturing operation. To solve the intense coupling of the kinematics and dynamics between the space manipulator and the base, this paper builds the noncontact impedance control model of the 6-joint space manipulator system, which can control the space manipulator before impacting with the objects. Computer simulations are performed to verify that the noncontact impedance control method can make the end-effector of the space manipulator keep desired dynamic characteristics and the adjustment of virtual impedance parameters can control the impact force value efficiently.

Research on the Impact Control Performance of the Space Manipulator under the Noncontact Impedance Control

2012 ◽  
Vol 522 ◽  
pp. 696-702 ◽  
Author(s):  
Zhi Gang Chen ◽  
Cui Ru Wu ◽  
Guang Yu Zhang
Keyword(s):  
Impedance Control ◽  
Control Performance ◽  
Space Manipulator ◽  
Impedance Parameters ◽  
Coordination Principle ◽  
The Impact

This paper proposes the noncontact impedance control which can realize the control of the impact which happens between the space manipulator system and the target in capturing operation. And the impact value is influenced by the impedance parameters of the noncontact impedance control. The paper conducts the simulation of the effect of the impedance parameters on impact control performance and concludes the impedance parameters' preliminary coordination principle.

Simultaneous Learning of Robot Impedance Parameters Using Neural Networks

2007 ◽  
Vol 19 (1) ◽  
pp. 106-113
Author(s):  
Mutsuhiro Terauchi ◽  
◽  
Yoshiyuki Tanaka ◽  
Seishiro Sakaguchi ◽  
Nan Bu ◽  
...  
Keyword(s):  
Neural Networks ◽  
Computer Simulations ◽  
Impedance Control ◽  
Robotic Manipulator ◽  
Effective Control ◽  
Control Methods ◽  
Learning Method ◽  
Conventional Methods ◽  
Impedance Parameters ◽  
Virtual Impedance

Impedance control is one of the most effective control methods for interaction between a robotic manipulator and its environment. Robot impedance control regulates the response of the manipulator to contact and virtual impedance control regulates the manipulator's response before contact. Although these impedance parameters may be regulated using neural networks, conventional methods do not consider regulating robot impedance and virtual impedance simultaneously. This paper proposes a simultaneous learning method to regulate the impedance parameters using neural networks. The validity of the proposed method is demonstrated in computer simulations of tasks by a multi-joint robotic manipulator.

scholarly journals Adaptive Variable Parameter Impedance Control for Apple Harvesting Robot Compliant Picking

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-15 ◽  
Author(s):  
Ji Wei ◽  
Ding Yi ◽  
Xu Bo ◽  
Chen Guangyu ◽  
Zhao Dean
Keyword(s):  
Control System ◽  
Contact Force ◽  
Control Method ◽  
Impedance Control ◽  
Viscoelastic Model ◽  
Variable Parameter ◽  
Response Speed ◽  
Self Tuning ◽  
Impedance Parameters ◽  
Harvesting Robot

In order to reduce the damage of apple harvesting robot to fruits and achieve compliant picking, an adaptive variable parameter impedance control method for apple harvesting robot compliant picking is proposed in this paper. Firstly, the Burgers viscoelastic model is used to characterize the rheological properties of apples and study the variation of mechanical properties of apple grasping at different speeds. Then, a force-based impedance control system is designed. On this basis, aiming at the influence of impedance controller parameters on contact force, three impedance parameters self-tuning functions are constructed to complete the design of an improved force-based impedance control system based on the hyperbolic secant function. The simulation and experimental results show that the proposed control makes the desired force smoother, and its overshoot is about 2.3%. The response speed is faster, and the adjustment time of contact force is shorter of about 0.48 s. The contact force overshoot is about 2%, which is 37.5% less than that of the traditional force-based impedance control. This research improves the control performance for apple harvesting robot compliant picking.

Impedance Control of Free-Flying Space Robot for Orbital Servicing

2006 ◽  
Vol 18 (5) ◽  
pp. 608-617 ◽  
Author(s):  
Hiroki Nakanishi ◽  
◽  
Kazuya Yoshida
Keyword(s):  
Control Method ◽  
Impedance Control ◽  
Space Robot ◽  
Space Manipulator ◽  
Inertial Space ◽  
Mass Damper ◽  
Fixed Base ◽  
Manipulator Arm ◽  
Spring System ◽  
Target Satellite

One of the most important phases of orbital servicing by a space robot is capturing a target satellite. In this phase, there is the risk that contact will push the target and robot away from each other. Controlling the impedance of the manipulator effectively prevents this. For a free-flying space robot, however, conventional methods used for fixed base robots cannot be used because the motion of the base interferes with the manipulator motion. An impedance control method for a space manipulator arm is proposed, where the end tip of the manipulator is controlled as if a mass-damper-spring system fixed in inertial space. Possible applications in orbital servicing are also discussed.

Preimpact configuration analysis of a dual-arm space manipulator with a prismatic joint for capturing an object

Robotica ◽  
2013 ◽  
Vol 31 (6) ◽  
pp. 853-860 ◽  
Author(s):  
Pei-Chao Cong ◽  
Xin Zhang
Keyword(s):  
Impact Force ◽  
Momentum Conservation ◽  
Space Manipulator ◽  
Compound A ◽  
Prismatic Joint ◽  
Object Based ◽  
The Stability ◽  
Joint Velocity ◽  
The Impact ◽  
Dual Arm

SUMMARYThis paper presents the preimpact configuration of a dual-arm space manipulator with a prismatic joint for capturing an object based on the momentum conservation principle. A unique precapture configuration “generalized straight-arm capture” (GSAC) is proposed based on the dual-arm space manipulator with a prismatic joint and the corresponding angular relation is obtained. The configuration satisfies GSAC and can reduce the effect of system's angular momentum caused by the impact force during the capture operation and the burden of postimpact control, so it avoids the limitation of joint velocity and actuator torque when controlling the compound (a manipulator with a prismatic joint and an object) and guarantees the stability of the system. Finally, the effectiveness of the method is demonstrated by numerical simulations.

scholarly journals A hybrid control strategy for grinding and polishing robot based on adaptive impedance control

2021 ◽  
Vol 13 (3) ◽  
pp. 168781402110040
Author(s):  
Haibo Zhou ◽  
Shitai Ma ◽  
Guilian Wang ◽  
Yuxin Deng ◽  
Zhenzhong Liu
Keyword(s):  
Control Strategy ◽  
Control Method ◽  
Hybrid Control ◽  
Impedance Control ◽  
Tracking Error ◽  
Position Tracking ◽  
Robot System ◽  
Adaptive Impedance Control ◽  
The Impact ◽  
Grinding And Polishing

In order to realize the active and compliant motion of the robot, it is necessary to eliminate the impact caused by processing contact. A hybrid control strategy for grinding and polishing robot is proposed based on adaptive impedance control. Firstly, an electrically driven linear end effector is designed for the robot system. The macro and micro motions control model of the robot is established, by using impedance control method, which based on the contact model of the robot system and the environment. Secondly, the active compliance method is adopted to establish adaptive force control and position tracking control strategies under impact conditions. Finally, the algorithm is verified by Simulink simulation and experiment. The simulation results are as follows: The position tracking error does not exceed 0.009 m, and the steady-state error of the force is less than 1 N. The experimental results show that the motion curve coincides with the surface morphology of the workpiece, and the contact force is stable at 10 ± 3 N. The algorithm can realize more accurate position tracking and force tracking, and provide a reference for the grinding and polishing robot to realize surface processing.

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.

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