Force Tracking Impedance Control of Robot Manipulators Under Unknown Environment

Jung, Seul; Hsia, T.C.; Bonitz, R.G.

doi:10.1109/tcst.2004.824320

Cited by 379 publications

(185 citation statements)

References 22 publications

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“…is bounded because N is sum of continuous terms and bounded discontinuous terms [18,19]. The bounded TDE error ε is defined as…”

Section: Tdc For Robot Manipulators -Hsia's Formulationmentioning

confidence: 99%

“…Particularly, it has been also implemented for robot manipulators to perform trajectory tracking control, force control, impedance control, and dual arm cooperative control [17][18][19][20][21]. The TDC for robot manipulators consists of two elements [9,10]: the robot dynamics canceling element using the TDE, and the desired error dynamics injecting element.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Control of Robot Manipulators Using Time-Delay Estimation and Fuzzy Logic Systems

Bae¹,

Jin²,

Suh³

et al. 2017

Journal of Electrical Engineering and Technology

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-A highly accurate model-free controller is proposed for trajectory tracking control of robot manipulators. The proposed controller incorporates time-delay estimation (TDE) to estimate and cancel continuous nonlinearities of robot dynamics, and exploits fuzzy logic systems to suppress the effect of the TDE error, which is due to discontinuous nonlinearities such as friction. To this end, integral sliding mode is defined using desired error dynamics, and a Mamdani-type fuzzy inference system is constructed. As a result, the proposed controller achieves the desired error dynamics well. Implementation of the proposed controller is easy because the design of the controller is intuitive and straightforward, and calculations of the complex robot dynamics are not required. The tracking performance of the proposed controller is verified experimentally using a 3-degree of freedom PUMAtype robot manipulator.

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“…is bounded because N is sum of continuous terms and bounded discontinuous terms [18,19]. The bounded TDE error ε is defined as…”

Section: Tdc For Robot Manipulators -Hsia's Formulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Control of Robot Manipulators Using Time-Delay Estimation and Fuzzy Logic Systems

Bae¹,

Jin²,

Suh³

et al. 2017

Journal of Electrical Engineering and Technology

View full text Add to dashboard Cite

show abstract

“…Impedance control is usually employed in interaction control and its robustness and feasibility have been acknowledged by many research studies [1], [2], [3], [4], [5], [6], [7], [8], [9]. In particular, a desired passive impedance model is usually prescribed and the safety of the robot and environment is guaranteed.…”

Section: Introductionmentioning

confidence: 99%

Impedance Learning for Robots Interacting With Unknown Environments

2014

IEEE Trans. Contr. Syst. Technol.

126

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Abstract-In this paper, impedance learning is investigated for robots interacting with unknown environments. A twoloop control framework is employed and adaptive control is developed for the inner-loop position control. The environments are described as time-varying systems with unknown parameters in the state-space form. The gradient-following scheme and betterment scheme are employed to obtain a desired impedance model, subject to unknown environments. The desired interaction performance is achieved in the sense that a defined cost function is minimized. Simulation and experiment studies are carried out to verify the validity of the proposed method.

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“…al. present an adaptive impedance controller, also tracking force in contact with an unknown environment [4]. These force tracking schemes are in particular interesting for industrial applications where the robot is in contact with a workpiece (e.g.…”

Section: Introductionmentioning

confidence: 99%

A set-point-generator for indirect-force-controlled manipulators operating unknown constrained mechanisms

Lutscher

Cheng

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-In this paper we propose a set-point-generator (SPG) for indirect-force-controlled (IFC) manipulators, interacting with mechanisms, which impose narrow bilateral kinematic constraints on their end effector, like doors, cabinets and drawers. These mechanisms could also have dynamic properties, due to their inertia, friction and gravity, which demands to consider applied forces when choosing a set-point for the IFC. Neither the type of the constraint (linear, circular), nor required manipulation forces are assumed to be known.The proposed SPG consists of two parts: i) estimating the single direction of possible motion based on filtering of the measured end effector velocities; and ii) choosing an appropriate set-point for the underlying IFC, resulting in an effective operation of the mechanism. A major aspect of our approach is to explore the kinematic constraints with the manipulators desired set-point, avoiding direct force control, as the required interaction force is unknown and hence there is no definite reference force.The presented approach is a generalization of our previous work on constrained manipulation of unknown mechanisms and extends the applicability to a wider class of manipulators by considering joint-level IFC and taking into account the applied forces in yielding a robust and effective controller.The approach is evaluated in various experiments on a manipulator, providing joint space compliance.

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Force Tracking Impedance Control of Robot Manipulators Under Unknown Environment

Cited by 379 publications

References 22 publications

Control of Robot Manipulators Using Time-Delay Estimation and Fuzzy Logic Systems

Control of Robot Manipulators Using Time-Delay Estimation and Fuzzy Logic Systems

Impedance Learning for Robots Interacting With Unknown Environments

A set-point-generator for indirect-force-controlled manipulators operating unknown constrained mechanisms

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