Robot-Environment Interaction Control of a Flexible Joint Light Weight Robot Manipulator

Xiong, Gang; Chen, Haichu; Zhang, Ruihua; Liang, Fayun

doi:10.5772/51308

Cited by 7 publications

(6 citation statements)

References 15 publications

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“…Nowadays, robots are being used widely more and more in assembly operations, medical, home applications, services, defense, space exploration etc., where contact environment cannot be modeled accurately. 1 Most of these robots need object manipulation, and they are also started to work with humans in shared workspace. Therefore, an interaction control (compliance) method is necessary for the robot manipulator to interact with an unknown environment safely and human-friendly, avoiding damages in both the environment and the robot itself.…”

Section: Introductionmentioning

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: Introductionmentioning

confidence: 99%

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

Kizir

Elşavi

2021

Robotica

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“…Although a motor-actuated mechanism could provide ''pseudo-softness'' through impedance control with sensory information 14,15 it faces a problem with time delays. On the other hand, flexible components are directly introduced to actuator mechanisms for intrinsic softness.…”

Section: Introductionmentioning

confidence: 99%

“…Softness of an intact arm could contribute to impact absorption, thus reducing the damage caused by a possible collision with other objects in the course of daily living. Although a motor-actuated mechanism could provide ''pseudo-softness'' through impedance control with sensory information 14,15 it faces a problem with time delays. On the other hand, flexible components are directly introduced to actuator mechanisms for intrinsic softness.…”

Section: Introductionmentioning

confidence: 99%

A lightweight shoulder prosthesis with antagonistic impact-absorbing hybrid actuation for bimanual activities of daily living

Sekine

Shiota

Kita

et al. 2016

Advances in Mechanical Engineering

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In developing a shoulder prosthesis, in addition to appropriate payload and range of motion under the constraints of weight and shape, impact absorption is very important for safe use. Hybridization of two different actuators (pneumatic elastic actuators with the features of lightness and intrinsic visco-elasticity, and servo motors that have stable torque and a large range of motion in combination with an antagonistic mechanism) was employed to achieve the development of the shoulder prosthesis. A two-link, two-degree-of-freedom arm was used to test the different hybridization configurations in order to investigate the impact absorption. A dynamic simulation platform based on four bimanual activities of daily living was established to obtain the required range of motion and torque for joints of a two-link, four-degree-offreedom arm. The number of pneumatic elastic actuators required and the dimension of the antagonistic mechanism mechanical structures were optimized using the dynamic simulation platform. The best configuration of the two types of actuators was determined using the dynamic simulation based on the impact absorption results and other criteria. Moreover, a simplified prototype driven by hybrid actuation was made. It was shown that the pneumatic elastic actuator joint could improve impact absorption, and the actuator configuration of shoulder prostheses is activity of daily living dependent. The prototype could reproduce a certain activity of daily living motion, indicating its feasibility in daily living.

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“…13 A trajectory tracker based on model-reference adaptive control method has been proposed by Ulrich and Sasiadek 10 for space manipulator with parametric uncertainties and elastic vibrations in the joints. In the study by Xiong et al, 14 a weighted path-planning technique is presented for a light-weight robot, where an interaction is carried out with the environment using the impedance control approach. Flexibility is an undesirable feature in flexible joint mechanisms due to causing serious control problems such as vibration, nonlinearity, coupling, and uncertainty.…”

Section: Introductionmentioning

confidence: 99%

Fast terminal sliding mode tracking control of nonlinear uncertain mass–spring system with experimental verifications

Amirkhani

Mobayen

Iliaee

et al. 2019

International Journal of Advanced Robotic Systems

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In this article, a fast terminal sliding mode control technique is used for robust tracking control of a nonlinear uncertain mass-spring system in the existence of external perturbation. This system is considered as a benchmark problem in the flexible joint mechanisms. The joints flexibility in the robotic systems creates one of the most significant sources of parametric uncertainties. The theory of Lyapunov stability is used for the formulation of the proposed control method, and the presence of the sliding around the switching surface is satisfied in the finite time. Simulation results as well as the experimental verifications prove the efficiency and applicability of the suggested approach in the presence of parametric uncertainty, noise, and exterior disturbance.

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Robot-Environment Interaction Control of a Flexible Joint Light Weight Robot Manipulator

Cited by 7 publications

References 15 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

A lightweight shoulder prosthesis with antagonistic impact-absorbing hybrid actuation for bimanual activities of daily living

Fast terminal sliding mode tracking control of nonlinear uncertain mass–spring system with experimental verifications

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