A Robust Hybrid Intelligent Position/Force Control Scheme for Cooperative Manipulators

Biomimetic object impedance control for dual-arm cooperative 7-DOF manipulators

“…As to the object impedance described by (14), the direct measurement of F env , namely, the force exerted by the environment on the object, is not available, so (14) needs to be transformed. Only by folding the object dynamics (1) into Eq.…”

“…Since the estimation of the object's dynamics is inevitably noisy and inaccurate, the requirement of the object's dynamics limits extensive application of object impedance control. To avoid this limitation, Lian and Gueaieb [13][14][15] presented some enlightening algorithms based on intelligent control. Furthermore, Caccavale [16,17] successfully combined the internal and external object impedance.…”

Dual arm manipulation—A survey

“…Intelligent control using neural networks and fuzzy systems have been proposed in [73] and [87] respectively in order to cope with dynamic model uncertainties. Neuro-adaptive control with visual feedback has been also proposed in order to deal with Jacobian kinematic uncertainties [74].…”

On Stiffness Regulators with Dissipative Injection for Robot Manipulators

“…Direct methods involve an explicit form representation of force-feedback, while in indirect methods force-feedback is not explicit but rather is regulated using the position of the end-effector. Among the most important direct interaction control approaches, we might consider explicit force control [5][6][7], hybrid force/ position control [8][9][10][11][12][13][14][15] and parallel force/motion control [16,17]. Meanwhile, among the most relevant indirect interaction control approaches, the stiffness control [18][19][20][21][22] and impedance control approaches [2, 4, 23 -29] might be considered.…”