Internal force-based impedance control for cooperating manipulators

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

doi:10.1109/robot.1993.292265

Cited by 117 publications

(60 citation statements)

References 15 publications

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“…22,23 In both cases, information about robot positions and forces still needs to be centralized. In Bonitz and Hsia, 22 individual impedance control schemes take into account only the part of applied efforts producing internal load, and then introduce coupling effects between object motion and internal load regulation. In Kosuge et al, 24 impedance distribution was implemented using virtual internal model of the manipulator end-effectors.…”

Section: The Distributed Impedance Approachmentioning

confidence: 99%

Planning and controlling cooperating robots through distributed impedance

2002

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This article presents distributed impedance as a new approach for multiple robot system control. In this approach, each cooperating manipulator is controlled by an independent impedance controller. In addition, along selected degrees of freedom, force control is achieved through an external loop, to improve control of the object's internal loading. Extensive stability analysis is performed, based on a realistic model that includes robot impedance and object dynamics. Experiments are performed using two cooperating industrial robots holding an object through point contacts. Force and position control actions are suitably dispatched to achieve both internal loading control and object position control. Individual impedance parameters are specified according to the theoritical stability criterion. The performance of the system is demonstrated for transportation and contact tasks.

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Section: The Distributed Impedance Approachmentioning

confidence: 99%

Planning and controlling cooperating robots through distributed impedance

2002

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“…Instead, a Lyapunov function (as in [38]) is formulated as a sufficient condition for stability. Here, we introduce a Lyapunov function using the mechanical energy of the human/robot system:…”

Section: Admittance Control In the Global Framementioning

confidence: 99%

Stability and Variable Admittance Control in the Physical Interaction with a Mobile Robot

Wang¹,

Patota²,

Buondonno³

et al. 2015

Int. j. adv. robot. syst.

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Admittance controllers have been widely implemented in physical human/robot interaction (pHRI). The stability criteria and the parameter adaptation methods for admittance control have been well-studied. However, the established methods have mainly focused on human/ manipulator interaction, and cannot be directly extended to mobile robot-based pHRI, in which the nonlinearity cannot be cancelled by feedback linearizations and the measurements of the relative human/robot position and orientation are usually lacking. In this paper, we study the pHRI between a human user and a mobile robot under admittance control. We develop a robotic system which can measure the relative chest/ankle positions of the human user with respect to the robot. Using the measured human position, a human frame admittance controller is proposed to remove the nonlinearity in the system dynamics. Based on the human-frame admittance control, a stability criterion is derived. By using a human arm stiffness estimator along with the derived stability criterion, a stiffness-based variable admittance controller is designed. The effectiveness of the proposed methods in improving the pHRI performance is tested and supported by simulations and experimental results.

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“…This formulation is referred to as internal force based impedance control (IFBIC) in (Bonitz & Hsia, 1996;, where the compensation of the hard nonlinearities was not considered. For simplicity and clarity, a single arm with soft and hard nonlinearities is considered as shown in Fig.…”

Section: Simulation Studiesmentioning

confidence: 99%