Impedance Control of the Hydraulic Shoulder A 3-DOF Parallel Manipulator

Sadjadian, H.; Taghirad, Hamid D.

doi:10.1109/robio.2006.340255

Cited by 9 publications

(4 citation statements)

References 13 publications

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“…A large B d can increase the response time and have no vibration. For position accurate tracking, a large K d should be selected [ 14 ]. According to these, the suitable impedance parameters for specified control system can be got.…”

Section: The Control System Of Tendon-driven Dexterous Fingermentioning

confidence: 99%

The Control of Tendon-Driven Dexterous Hands with Joint Simulation

Chen

Han

2014

Sensors

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An adaptive impedance control algorithm for tendon-driven dexterous hands is presented. The main idea of this algorithm is to compensate the output of the classical impedance control by an offset that is a proportion-integration-differentiation (PID) expression of force error. The adaptive impedance control can adjust the impedance parameters indirectly when the environment position and stiffness are uncertain. In addition, the position controller and inverse kinematics solver are specially designed for the tendon-driven hand. The performance of the proposed control algorithm is validated by using MATLAB and ADAMS software for joint simulation. ADAMS is a great software for virtual prototype analysis. A tendon-driven hand model is built and a control module is generated in ADAMS. Then the control system is built in MATLAB using the control module. The joint simulation results demonstrate fast response and robustness of the algorithm when the environment is not exactly known, so the algorithm is suitable for the control of tendon-driven dexterous hands.

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Section: The Control System Of Tendon-driven Dexterous Fingermentioning

confidence: 99%

The Control of Tendon-Driven Dexterous Hands with Joint Simulation

Chen

Han

2014

Sensors

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“…It is typically used in applications that require complex interaction with the environment, such as assembly, drilling, and milling. However, some researches [23,24] have shown that impedance control also demonstrates the desirable trajectory tracking ability in free motion. The tracking ability of impedance control in free motion can be explained by introducing the concept of a virtual surface.…”

Section: Introductionmentioning

confidence: 99%

Compound Impedance Control of a Hydraulic Driven Parallel 3UPS/S Manipulator

Wang

Cui

et al. 2020

Chin. J. Mech. Eng.

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The hydraulic parallel manipulator combines the high-power density of the hydraulic system and high rigidity of the parallel mechanism with excellent load-carrying capacity. However, the high-precision trajectory tracking control of the hydraulic parallel manipulator is challenged by the coupling dynamics of the parallel mechanism and the high nonlinearities of the hydraulic system. In this study, the trajectory control of a 3-DOF symmetric spherical parallel 3UPS/S manipulator is evaluated. Focusing on the highly coupling and nonlinear system dynamics, a compound impedance control method for a hydraulic driven parallel manipulator is proposed, which combines impedance control with the spatial motion characteristics of a parallel manipulator. The control strategy is divided into the inner and outer loops. The inner loop controls the impedance of the actuator in the joint space, and the outer loop controls the impedance of the entire platform in the task space to compensate the coupling of the actuators and improve the tracking accuracy of the moving platform. Compound impedance control does not require force or pressure sensors and is less dependent on modeling precision. The experimental results show that the compound impedance control effectively improves the tracking accuracy of the moving platform. This research proposes a compound impedance control strategy for a 3-DOF hydraulic parallel manipulator, which has high tracking precision with a simple and cheap system configuration.

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“…As such, studies on the impedance control of 3-DOF PLMs have covered several subjects, including parts assembly [23], rehabilitation [24], and haptic devices [25]. Redundant actuators have been employed in these studies [24]- [26]. However, the internal force caused by the redundant actuators is of no concern in control algorithms.…”

Section: Introductionmentioning

confidence: 99%

Impedance control of a redundantly actuated 3-DOF planar parallel link mechanism using direct drive linear motors

Harada

Nagase

2010

2010 IEEE International Conference on Robotics and Biomimetics

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The impedance control of a 3-degree-of-freedom (DOF) xyT planar parallel link mechanism (PLM) with four redundant actuators, i.e., a 3D4M PLM, is proposed. The impedance control requires forward kinematics, which gives the position and orientation of the end effector of the PLM. The notable link arrangement of the 3D4M PLM makes it easy to derive the forward kinematics, which have been difficult to derive for conventional parallel links. In addition, the relations of static forces, including the internal force through redundant actuation, are derived. Using the forward kinematics, formulas of the impedance control that take into consideration the internal force of the 3D4M PLM are derived. Based on the design of decoupled dynamics, an experimental system of the 3D4M PLM is developed. A PLM is constructed on linear motors in which four moving parts are individually driven on one stator part. Workspace impedance control achieved by force command is implemented in the experimental system using a digital signal processor (DSP) based real time controller. Experimental responses of free damped vibrations to impedance control are compared with corresponding theoretical responses.A 978-1-4244-9318-0/10/$26.00

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Impedance Control of the Hydraulic Shoulder A 3-DOF Parallel Manipulator

Cited by 9 publications

References 13 publications

The Control of Tendon-Driven Dexterous Hands with Joint Simulation

The Control of Tendon-Driven Dexterous Hands with Joint Simulation

Compound Impedance Control of a Hydraulic Driven Parallel 3UPS/S Manipulator

Impedance control of a redundantly actuated 3-DOF planar parallel link mechanism using direct drive linear motors

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