Fuzzy impedance and force control of a Stewart platform

Kizir, Selçuk; Bingül, Zafer

doi:10.3906/elk-1208-54

Cited by 13 publications

(6 citation statements)

References 20 publications

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“…Otherwise, the trajectory will be modified in order to regulate the maximum forces. Equation (13) gives the control law of the traditional position-based impedance controller, 25 which represents a virtual mass-spring-damper system between the robot and the object.…”

Section: Fractional-order Impedance Controllermentioning

confidence: 99%

Position-Based Fractional-Order Impedance Control of a 2 DOF Serial Manipulator

Kizir

Elşavi

2021

Robotica

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SUMMARY Impedance control is one of the interaction and force control methods that has been widely applied in the research of robotics. In this paper, a new position-based fractional-order impedance control scheme is proposed and applied to a 2 DOF serial manipulator. An RR robot manipulator with full arm dynamics and its environment were designed using Matlab/Simulink. The position control of the manipulator was utilized based on computed torque control to cancel out the nonlinearities existing on the dynamic model of the robot. Parameters of classical impedance controller (CIC) and proposed fractional-order impedance controller (FOIC) were optimized in order to minimize impact forces for comparison of the results in three conditions. In CIC condition: three constant parameters of the impedance controller were optimized: in Frac_λμ condition: Only non-integer parameters of the FOIC were re-optimized after the parameters in CIC had been accepted, and in Frac_all condition: all parameters of the FOIC were re-optimized. In order to show the effectiveness of the proposed method, simulations were conducted for all cases and performance indices were computed for the interaction forces. Results showed that impacts were reduced with an improvement of 26.12% from CIC to Frac_ λμ and an improvement of 47.21% from CIC to Frac_all. The proposed scheme improves the impedance behavior and robustness showing better impact absorption performance, which is needed in many challenging robotic tasks and intelligent mechatronic devices.

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Section: Fractional-order Impedance Controllermentioning

confidence: 99%

Position-Based Fractional-Order Impedance Control of a 2 DOF Serial Manipulator

Kizir

Elşavi

2021

Robotica

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“…The PSO algorithm has the better convergence ability as evident in Figure 5. It requires fewer parameters to adjust, which means it is relatively easy to implement and is suitable for solving engineering problems [27].…”

Section: ) Algorithm Selectionmentioning

confidence: 99%

Design and Implementation of Novel Fractional-Order Controllers for Stabilized Platforms

et al. 2020

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“…Compared with the serial manipulator, the Stewart-based parallel manipulator has the characteristics of high stiffness, large load, good absolute positioning accuracy, and repeated positioning accuracy, which is more suitable for fracture reduction surgery with large load and high accuracy requirements. The impedance control of parallel robot can be divided into position modified impedance control [17] - [20] and inverse dynamic impedance control [21] according to different implementation methods. Kizir et al proposed a position-based impedance control for the Stewart platform (SP), mainly divided into three parts: position controller, impedance filter, and FC.…”

Section: Introductionmentioning

confidence: 99%

“…Kizir et al proposed a position-based impedance control for the Stewart platform (SP), mainly divided into three parts: position controller, impedance filter, and FC. When the interaction occurs, the FC adjusts the parameters of the impedance filter to achieve force control [17]. Kalani et al proposed a fuzzy impedance control strategy for jaw rehabilitation training [18].…”

Section: Introductionmentioning

confidence: 99%

Fuzzy Adaptive Sliding Mode Impedance Control of Fracture Reduction Robot

Zheng

Lei

et al. 2021

IEEE Access

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With the development of robotics, it will be possible for fracture reduction robots to replace doctors in performing surgery operations. The surgery accuracy and safety by the reduction robot is important. In order to compensate various uncertainties and nonlinear problems in the reduction robot impedance control system, this paper proposes a fuzzy adaptive sliding mode impedance control of the reduction robot, which includes force residual observer (FRO) and fuzzy adaptive sliding mode controller (FASMC). The FRO is used to estimate the external force between the reduction robot and the fractured musculoskeletal tissue in real-time, no force sensor is installed at the end-effector of reduction robot. The FASMC mainly includes three parts: linearizing the system by inverse dynamics and PD control, improving the system's robustness by the sliding mode control and fuzzy adaptive switching gain to reduce chattering, eliminating the nonlinear disturbance term of the system, and the normalized factor linear combination fuzzy system is used to compensate. The co-simulation of the fracture reduction robot shows that the FASMC impedance control method has a better steady-state position and force tracking accuracy, the steady-state position accuracy is -0.733 mm, and the steady-state force accuracy is -2.12 N. This paper provides an effective method for impedance control of the fracture reduction robot.

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Fuzzy impedance and force control of a Stewart platform

Cited by 13 publications

References 20 publications

Position-Based Fractional-Order Impedance Control of a 2 DOF Serial Manipulator

Position-Based Fractional-Order Impedance Control of a 2 DOF Serial Manipulator

Design and Implementation of Novel Fractional-Order Controllers for Stabilized Platforms

Fuzzy Adaptive Sliding Mode Impedance Control of Fracture Reduction Robot

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