Robust sliding mode based impedance control

Hace, A.; Uran, Suzana; Jezernik, K.; Curk, Boris

doi:10.1109/ines.1997.632396

Cited by 8 publications

(3 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A sliding mode control has been introduced within the impedance control framework to realize force tracking characteristics for autonomous robots as well as tele-operation systems. 38,39 Generally, there are two strategies for the adaptive force tracking impedance control to regulate the desired contact force; namely either by tuning the desired trajectory or by regulating the target stiffness of the impedance control. For instance, an adaptive force tracking control scheme in which a desired trajectory is generated to regulate the desired contact force either based on the estimation of the environmental stiffness and location or without this estimation was proposed in Seraji and Colbaugh.…”

Section: Adaptive Force Tracking Impedance Control For the Shaving Taskmentioning

confidence: 99%

Development of an autonomous robotic system for beard shaving assistance of disabled people based on an adaptive force tracking impedance control

Ajani

Assal

2021

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

Recently, people with upper arm disabilities due to neurological disorders, stroke or old age are receiving robotic assistance to perform several activities such as shaving, eating, brushing and drinking. Although the full potential of robotic assistance lies in the use of fully autonomous robotic systems, these systems are limited in design due to the complexities and the associated risks. Hence, rather than the shared controlled or active robotic systems used for such tasks around the head, an adaptive compliance control scheme-based autonomous robotic system for beard shaving assistance is proposed. The system includes an autonomous online face detection and tracking as well as selected geometrical features-based beard region estimation using the Kinect RGB-D camera. Online trajectory planning for achieving the shaving task is enabled; with the capability of online re-planning trajectories in case of unintended head pose movement and occlusion. Based on the dynamics of the UR-10 6-DOF manipulator using ADAMS and MATLAB, an adaptive force tracking impedance controller whose parameters are tuned using Genetic Algorithm (GA) with force/torque constraints is developed. This controller can regulate the contact force under head pose changing and varying shaving region stiffness by adjusting the target stiffness of the controller. Simulation results demonstrate the system capability to achieve beard shaving autonomously with varying environmental parameters that can be extended for achieving other tasks around the head such as feeding, drinking and brushing.

show abstract

Section: Adaptive Force Tracking Impedance Control For the Shaving Taskmentioning

confidence: 99%

Development of an autonomous robotic system for beard shaving assistance of disabled people based on an adaptive force tracking impedance control

Ajani

Assal

2021

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

show abstract

“…The small steady state error can be explained by the inaccuracies in the torque-position transformation. The proposed controller is compared with a proportional derivative (PD) controller, conventional adaptive controller [25], [26] and a sliding mode controller [31]. The desired trajectory is set as 0.3sin(t) for 20 secs, after which it is changed to 0.2sin(t).…”

Section: Figure 6: Sliding Surfacementioning

confidence: 99%

A Time Delay Estimation Based Adaptive Sliding Mode Strategy for Hybrid Impedance Control

et al. 2020

View full text Add to dashboard Cite

This paper is inspired by the automation of cleaning tasks required inside the endogenous environment. The intention of this paper, is to develop a robust adaptive strategy for force-position control, using robotic manipulators. With this objective, the operational/task space is decoupled into two sub-spaces, and the impedance model for the manipulator is designed using the standard second-order filters. The impedance filter generates the reference commands for the inner loop, which assures bounded position and force tracking. A delay estimation based adaptive sliding mode strategy is proposed for carrying out the tracking objective, and its convergence is proved using the Lyapunov-Razumikhin theorem. The controller uses past data to estimate the uncertainties in the error dynamics and exploits the sliding mode strategy to provide robustness in the closed-loop. This technique circumvents the under/overestimation issues, and linear/nonlinear parametrization requirements in conventional adaptive schemes. Multiple numerical simulations and experiments are performed, and the results point to the validity of the proposed control law in real-world settings.

show abstract

“…Some researchers introduce a sliding mode type of control based on the impedance control scheme to achieve force tracking characteristics for autonomous robots as well as teleoperation systems, see e.g. Hace et al (1997); Cho et al (2001); Iwasaki et al (2003). Seraji et al (1997) present an adaptive control scheme that generates a desired trajectory in order to regulate a desired contact force either based on the estimation of the environmental stiffness and location or without the estimation.…”

Section: Introductionmentioning

confidence: 99%