DOREP: An Educational Experiment Platform for Robot Control Based on MATLAB and the Real-Time Controller

Liu, Guanghui; Han, Bing; Li, Qingxin; Shuai, Wang; Zhang, Hualiang

doi:10.1007/978-3-030-27529-7_47

Cited by 5 publications

(2 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…To reduce damage to the robot, a double S-shaped trajectory 18 was used instead of a step trajectory for the evaluation of the performance of controllers. Figure 8 shows the performance of desired trajectory tracking in free space along the z direction using admittance control and the proposed VDM-based cascade impedance control.…”

Section: Cartesian Trajectory Tracking In Free Spacementioning

confidence: 99%

Improving robotic impedance control performance employing a cascaded controller based on virtual dynamics model

Liu

Han

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

Self Cite

View full text Add to dashboard Cite

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.

show abstract

Section: Cartesian Trajectory Tracking In Free Spacementioning

confidence: 99%

Improving robotic impedance control performance employing a cascaded controller based on virtual dynamics model

Liu

Han

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

Self Cite

View full text Add to dashboard Cite

show abstract

“…The robot experiment platform is shown in Figure 6, and the manipulator is equipped with DC motors (Liu et al , 2019). The six-dimensional force sensor is installed on the robot wrist to measure the contact force and torque.…”

Section: Experimental Verification and Analysismentioning

confidence: 99%

Frequency-division based hybrid force/position control of robotic arms manipulating in uncertain environments

Liu

Fang

Han

et al. 2020

Self Cite

View full text Add to dashboard Cite

Purpose This paper aims to propose a hybrid force/position control algorithm based on the stiffness estimation of the unknown environment. A frequency-division control scheme is developed to improve the applicability and reliability of the robot in welding, polishing and assembly. Design/methodology/approach The stiffness estimation algorithm with time-varying forgetting factors is used to improve the speed and accuracy of the unknown environmental estimation. The sensor force control and robot position control are adopted in different frequencies to improve system stability and communication compatibility. In the low frequency of sensor force control, the Kalman state observer is used to estimate the robot’s joints information, whereas the polynomial interpolation is used to ensure the smoothness of the high frequency of robot position control. Findings Accurate force control, as well as the system stability, is attained by using this control algorithm. Practical implications The entire algorithm is applied to a six-degrees-of-freedom industrial robot, and experiments are performed to confirm its applicability. Originality/value The frequency-division control strategy guarantees the control stability and improves the smoothness of the robot movement.

show abstract

DOREP 2.0: An Upgraded Version of Robot Control Teaching Experimental Platform with Reinforcement Learning and Visual Analysis

Wang

Zhang

et al. 2021

Intelligent Robotics and Applications

View full text Add to dashboard Cite

DOREP: An Educational Experiment Platform for Robot Control Based on MATLAB and the Real-Time Controller

Cited by 5 publications

References 11 publications

Improving robotic impedance control performance employing a cascaded controller based on virtual dynamics model

Improving robotic impedance control performance employing a cascaded controller based on virtual dynamics model

Frequency-division based hybrid force/position control of robotic arms manipulating in uncertain environments

DOREP 2.0: An Upgraded Version of Robot Control Teaching Experimental Platform with Reinforcement Learning and Visual Analysis

Contact Info

Product

Resources

About