Robust Force Tracking Impedance Control of an Ultrasonic Motor-actuated End-effector in a Soft Environment

Liang, Wenyu; Feng, Zhao; Wu, Yan; Gao, Junli; Ren, Qinyuan; Lee, Tong Heng

doi:10.1109/iros45743.2020.9340717

Cited by 6 publications

(4 citation statements)

References 29 publications

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“…Eq. (22) shows that V ≤ 0 and V will decrease when the force estimation error fx = fx − f x exists. Therefore, the updating law in Eq.…”

Section: B Unknown Movement Estimationmentioning

confidence: 99%

“…Since these two follower robots are in physical interaction through a common object, DFR's movement may be estimated by AFR using the information of interaction force. Moreover, as for manipulation of deformable objects such as organs, tissues, cables and household laundries [18]- [20], researchers presented practical methods to endow the manipulator with touching sense [21] and achieve high-precision force tracking when interacting with soft objects [22] [23]. These works shared the same idea that a robot can use the contact force to modulate its movement.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Cooperative Manipulation of Deformable Objects by Single-Leader–Dual-Follower Teleoperation

Huang

et al. 2022

IEEE Trans. Ind. Electron.

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“…Eq. (22) shows that V ≤ 0 and V will decrease when the force estimation error fx = fx − f x exists. Therefore, the updating law in Eq.…”

Section: B Unknown Movement Estimationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Cooperative Manipulation of Deformable Objects by Single-Leader–Dual-Follower Teleoperation

Huang

et al. 2022

IEEE Trans. Ind. Electron.

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“…Force tracking has attracted many researchers in the last decades [28][29][30][31]. For the situation where the environmental dynamics parameters are known, the traditional force control strategies can achieve good performance.…”

Section: Introductionmentioning

confidence: 99%

Force tracking smooth adaptive admittance control in unknown environment

Liu

2023

Robotica

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In this research, a force tracking smoothing adaptive admittance controller is proposed that grants precise contact forces (performance necessary for many critical interaction tasks such as polishing) for unknown interaction environments (e.g., leather or thin and soft materials). First, an online indirect adaptive update strategy is proposed for generating the reference trajectory required by the desired tracking force, considering the uncertainty of the interaction. The sensor noise amplitude is environment dynamics and the necessity condition for traditional admittance controller to achieve ideal steady-state force tracking. Then, a pre-PD controller is introduced to increase the parameter convergence rate while ensuring the steady-state force tracking accuracy and enhancing the robustness of the system. The robustness boundary is also analyzed to provide assurance for the stability of the system. Finally, we verify the effectiveness of the proposed method in simulations. Simultaneously, an experiment is conducted on the AUBO-i5 serial collaborative robot, and the experimental results proved the excellent comprehensive performance of the control framework.

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“…The inertial measurement unit sensor was used to measure the joint angle of the manipulator and monitor collision [2,3]. In Liang et al [4,5] the detection information is fed back through the collision surface of the tactile sensor. At present, the effect of sensor application is better, but it will increase the load on the manipulator and the cost.…”

Section: Introductionmentioning

confidence: 99%

An effective self-collision detection algorithm for multi-degree-of-freedom manipulator

Liu

Zhang²,

Qin³

et al. 2022

Meas. Sci. Technol.

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In order to address the self-collision problem associated with the operation of modern industrial robots, this paper proposes a multi-degree-of-freedom (multi-DOF) collision detection algorithm that can detect self-collision in single arm and double arm robots as well as collision with the load. Firstly, the zero pose of the Denavit-Hartenberg model is built based on the manipulator configuration, and the coordinate information of each key point is obtained through a rotation and translation operation of the matrix. Then, the positional relation and distance between the detected objects are determined by the spatial geometry theory, and finally, collision is detected using a collision matrix. By simulating two groups of single arms and two groups of double arms, and from the laboratory testing of SR10C in the SIASUN robot factory, it has been verified that the proposed algorithm has good collision detection capability. Without the use of sensors, cameras, and other external devices, the collision between the arm and the load, and the collision between the cooperative robot and the load may be effectively detected and mitigated.

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Robust Force Tracking Impedance Control of an Ultrasonic Motor-actuated End-effector in a Soft Environment

Cited by 6 publications

References 29 publications

Cooperative Manipulation of Deformable Objects by Single-Leader–Dual-Follower Teleoperation

Cooperative Manipulation of Deformable Objects by Single-Leader–Dual-Follower Teleoperation

Force tracking smooth adaptive admittance control in unknown environment

An effective self-collision detection algorithm for multi-degree-of-freedom manipulator

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