Adaptive impedance based force and position control for pneumatic compliant system

Dong, Wenbo; Guan, Renhe; Yuan, Letian; Gu, Xu; Anwar, Ali; Lin, Weiyang

doi:10.1109/iecon.2017.8216498

Cited by 4 publications

(3 citation statements)

References 5 publications

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“…This is why compliance control attracts many scholars' attention (Zhou et al, 2023;Ye et al, 2021;Lin et al, 2017). The impedance control is firstly proposed by Hogan in 1984, which is used for dealing with the relationship between force and position and adjusts the impedance coefficients of the manipulator (Dong et al, 2017;Hogan, 1984). The improved adaptive control strategy is designed to guarantee high capability of force tracking with smaller contact impact and sliding avoidance, even in different environments (Zhu et al, 2015).…”

Section: Introductionmentioning

confidence: 99%

Impedance control for force tracking of a dual-arm cooperative robot based on particle swarm optimization

Li,

Huang,

Pan

et al. 2024

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Purpose The purpose of this paper aims to investigate the adaptive impedance control and its optimized PSO algorithm for force tracking of a dual-arm cooperative robot. Because the dual-arm robot is directly in contact with external environment, controlling the mutual force between robot and external environment is of great importance. Besides, a high compliance of the robot should be guaranteed. Design/methodology/approach An impedance control based on Particle Swarm Optimization (PSO) algorithm is designed to track the mutual force and achieve compliance control of the robot end. Findings The experimental results show that the impedance control coefficients can be automatically tuned converged by PSO algorithm. Originality/value The system can reach a steady state within 0.03 s with overshoot convergence, and the force fluctuation range at the steady state decreases to about ±0.08 N even under the force mutation condition.

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Section: Introductionmentioning

confidence: 99%

Impedance control for force tracking of a dual-arm cooperative robot based on particle swarm optimization

Li,

Huang,

Pan

et al. 2024

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“…At present, many scholars have done some research on position impedance control, such as a novel Cartesian space impedance control, 5 neural networks impedance control 6 and joint position-based impedance control. 7 There have also been many scholars research on force-based impedance control such as force-based variable impedance learning, 8 adaptive impedance control, 9 invariance control 10 and impedance-based force control. 11 Compared with the position-based impedance control, the force-based impedance control has faster response speed and robustness, but the position-based impedance control has higher accuracy than the force-based impedance control.…”

Section: Introductionmentioning

confidence: 99%

A Mathematical Model Including Mechanical Structure, Hydraulic and Control of LHDS

Ma¹,

Han³

et al. 2021

Robotica

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SUMMARY In this paper, mathematical models of kinematics, statics and inverse dynamics are derived firstly according to the mechanical structure of leg hydraulic drive system (LHDS). Then, all the above models are integrated with MATLAB/Simulink to build the LHDS simulation model, the model not only considers influence of leg dynamic characteristics on hydraulic system but also takes into account nonlinearity, variable load characteristics and other common problems brought by hydraulic system, and solves compatibility and operation time which brought by using multiple software simultaneously. The experimental results show the simulation model built in this paper can accurately express characteristics of the system.

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“…In robotics, the force control is one of the most studied topics, where it is used to describe the interaction between a robot and an unknown environment with applications in the industry, agriculture, medicine and services. [1,2,3,4] Currently, in a large number of robotic systems, the need for a natural interaction with the environment requires the actuator to be treated as a source of actuation force, i.e., a force generator. As such, the capability of precisely modulating the output force in the presence of external disturbance makes a significant research topic in the robotic application of pneumatic actuators.…”

Section: Introductionmentioning

confidence: 99%

Design of an Experimental Workbench for Force Control Tests with Pneumatic Actuators

Goergen

Pörsch

Souza

et al. 2018

Linköping Electronic Conference Proceedings

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The need of the use of mechatronic systems and manipulator robots performing tasks of precision and repetitiveness in the most diverse areas of industry, agriculture and services, require in some situations the contact between the manipulator and the environment, in the desired and programmed movements for the execution of robotized work. These situations, of contact of the mechanism and / or final effector with the environment, are characterized in a problem of force control. Pneumatic actuators are used for interaction between the robot and the environment, due to controllable stiffness. It is perceived that due to the compressibility of the air, it is more advantageous and safer in applications involving the risk of accidents and the need to limit the forces of interaction with the environment. The main objective of this paper is to show the design of an experimental workbench for position control and force control for pneumatic actuators. The used methodology is based on phases that can be named as Need Analysis, Conceptual Design, Preliminary Design, Detail Design, Prototype Construction, Test and Evaluation; and Final Documentation. The experimental prototype is being developed and tested at the Innovation Center for Automatic Machines and Servo Systems (NIMASS) in UNIJUÍ University (Brazil), which has adequate computational and experimental infrastructure for the construction of a bench of tests to verify and to validate the performance of the modeling and control of force on pneumatic actuators. It is concluded that the developed workbench can contribute to the study of the modeling and design of pneumatic systems applications in machines. Theoretical and experimental knowledge enhances the development of innovations and the transfer of technology to the productive sector.

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Adaptive impedance based force and position control for pneumatic compliant system

Cited by 4 publications

References 5 publications

Impedance control for force tracking of a dual-arm cooperative robot based on particle swarm optimization

Impedance control for force tracking of a dual-arm cooperative robot based on particle swarm optimization

A Mathematical Model Including Mechanical Structure, Hydraulic and Control of LHDS

Design of an Experimental Workbench for Force Control Tests with Pneumatic Actuators

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