On energy-based robust passive control of a robot manipulator

Cao, Shukun; Zhang, Luo

doi:10.1109/sii.2013.6776723

Cited by 4 publications

(7 citation statements)

References 6 publications

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“…The trajectory of the red line shows that the method proposed in Ref. [8] does not contribute to the performance of trajectory tracking. From the trajectory tracking results of the black dot line and the blue line in Fig.…”

Section: Effects Of the Impedance Control Methods In Different Casesmentioning

confidence: 98%

“…In our previous study of Ref. [8], we proposed an approach to select the estimation of and so as the robot can keep its passivity under the model uncertainties. However, the performance of impedance control still is influenced by the model error term and thus remains to be improved.…”

Section: Influences Of Model Uncertainties For Passive Impedance Controlmentioning

confidence: 99%

“…There are model errors, and the control method is as we proposed in research [8], which keeps the robot's passivity.…”

Section: Passive Robust Impedance Controlmentioning

confidence: 99%

“…Following this research, in Ref. [8], we further analyzed the passivity of an impedance controlled robot with model uncertainty. We proposed a unique approach to set the estimation of the robot's dynamics so as to keep the passivity under model uncertainties.…”

Section: Introductionmentioning

confidence: 99%

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On Observer-based Passive Robust Impedance Control of a Robot Manipulator

Cao¹,

Zhang²,

Quan³

2017

JMEA

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This paper studies the passive impedance control of a robot manipulator with model uncertainty to perform manipulation tasks while interacting with dynamic environment. Impedance control is a powerful approach for the robot to perform mechanical tasks while interacting with dynamic environment. However, in our previous research, it was clarified that, the time varying impedance center as well as the robot's model uncertainty influences the robot's passivity, which may lead to serious safety problem for both the robot as well as its environment. In order for the robot to keep its passivity as well as to realize desired objective impedance, in this paper, a novel observer based control design is proposed. Computer simulations of a 2-link manipulator interacting with a dynamic wall show the effectiveness of our control approach.

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Section: Effects Of the Impedance Control Methods In Different Casesmentioning

confidence: 98%

Section: Influences Of Model Uncertainties For Passive Impedance Controlmentioning

confidence: 99%

“…There are model errors, and the control method is as we proposed in research [8], which keeps the robot's passivity.…”

Section: Passive Robust Impedance Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

On Observer-based Passive Robust Impedance Control of a Robot Manipulator

Cao¹,

Zhang²,

Quan³

2017

JMEA

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“…It is also well known that, for the position tracking control of a robot manipulator, the robust tracking control approach has been proposed [6] and the approach to keep the passivity of this robust tracking control has also been published in Ref. [7].…”

Section: Introduction mentioning

confidence: 99%

On Energy-based Robust Passive Impedance Control of a Robot Manipulator

Cao¹,

Zhang²,

Quan³

2017

JMEA

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Passivity is an important requirement for a robot to interact with human or other dynamic environments stably and safely as in robotic rehabilitations. Considering the time-varying objective impedance center, under the condition that the robot's dynamics is known, previous research has already proposed a passive impedance control approach which adjusts a scaling parameter of the robot's desired velocity with respect to the robot's mechanic energy so as to maintain the robot's passivity. In this research, we furture take into account of the robot's dynamical model uncertainties and propose a robust passive impedance control. Computer simulations of a 2-link manipulator interacting with a dynamic wall show the effectiveness of our robust control approach.

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Passive Nonlinear Impedance Control for Port-Hamiltonian Systems

Okura

Fujimoto

2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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On energy-based robust passive control of a robot manipulator

Cited by 4 publications

References 6 publications

On Observer-based Passive Robust Impedance Control of a Robot Manipulator

On Observer-based Passive Robust Impedance Control of a Robot Manipulator

On Energy-based Robust Passive Impedance Control of a Robot Manipulator

Passive Nonlinear Impedance Control for Port-Hamiltonian Systems

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