VDC-based admittance control of multi-DOF manipulators considering joint flexibility via hierarchical control framework

Ding, Liang; Xing, Hongjun; Gao, Haibo; Torabi, Ali; Li, Weihua; Tavakoli, Mahdi

doi:10.1016/j.conengprac.2022.105186

Cited by 11 publications

(3 citation statements)

References 37 publications

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“…The capabilities of VDC to handle complex robotic systems have been experimentally verified, such as dissimilar master/slave systems [17] and the coordination of two manipulators to hold an egg [6]. The framework of the VDC method was further used for impedance [18] and admittance [19] control methods. For hydraulic robotic manipulators, [18] proposed a new Cartesian space impedance control (IC) method suited to nonlinear hydraulic manipulator dynamics.…”

Section: Introductionmentioning

confidence: 99%

Distributed Impedance Control of Coordinated Dissimilar Upper-Limb Exoskeleton Arms

Tahamipour-Z.¹,

Mattila²

2023

Preprint

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<p>Upper-limb exoskeleton (ULE) arms have the potential to assist humans in accomplishing tasks by distributing a heavy load. ULE arms are designed to be comfortable and lightweight wearable robotic devices, a design that has resulted in the complexity of their structures, actuators, and power transmissions. Additionally, different ULE vendor structures and biomechanical variations between humans have resulted in dissimilar coordinated ULE arm systems. These complex multiple ULE arm systems can be handled through adaptive virtual decomposition control (VDC) if unknown dynamic models are not considered. Accordingly, this paper proposes a new distributed framework for the adaptive impedance-based VDC method to address the abovementioned challenges and thereby enhance the performance and robustness of the ULE arm systems. To that end, the proposed control method has a prediction capability and an ancillary control law for coordinated dissimilar ULE arms holding a common object. The system stability is analyzed using the input-to-state stability approach. The performance of the proposed controller is evaluated both in simulation with six coordinated ULE arms and in an experiment with two commercial coordinated ULE arms each with seven degrees of freedom. Four scenarios are performed with different internal arm forces with and without an obstacle. The simulation and experiment results are compared with a state-of-the-art adaptive VDC method and show the superiority of the proposed control method.</p>

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Section: Introductionmentioning

confidence: 99%

Distributed Impedance Control of Coordinated Dissimilar Upper-Limb Exoskeleton Arms

Tahamipour-Z.¹,

Mattila²

2023

Preprint

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“…14 In previous research, a lot of work has been done on compensation methods to improve the modeling accuracy of large-scale robots. [15][16][17][18] The literature 15 analyzes the statics and dynamics of a single-section cable-driven robot, in which 3D deformation is described by routing cables. In Ding et al, 17 the static error of a concentric tube robot is studied using the Cosserat-rod theory under the assumption of a small deflection approximation and negligible friction.…”

Section: Introductionmentioning

confidence: 99%

A dual-loop feedback trajectory tracking control for rock drilling hydraulically driven manipulator

Chen,

Wu,

Liao

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper is devoted to proposing a feedback trajectory tracking control method for hydraulically driven rock drilling robotic manipulators. The rock drilling robot has a large-scale long boom and multiple joints (6R-2P), so the deformation of the arm may not be neglected. A kinematic model with the flexible deformation of the boom is developed by adding a modified coordinate transformation matrix to the general model. Each joint motion is determined by solving the inverse kinematic model in an optimization algorithm, which aims at minimizing the positional error and smoothing the motion. A dual-loop feedback controller is proposed to track the end-effector’s position and orientation. Based on the model predictive control (MPC) method, the inner-loop controller controls the cylinder motion by controlling the cylinder motion. The outer-loop controller uses the fuzzy-PID control to correct the position error which is caused by the inner-loop controller. Several reference trajectories are designed to validate the effectiveness of the proposed dual-loop control strategy, which demonstrates it has higher accuracy and lower control fluctuation than single-loop and other dual-loop controllers.

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“…The capabilities of the VDC approach for handling complex robotic systems have been experimentally verified, such as the coordination of two manipulators to hold an egg [6] and dissimilar master/slave systems [17]. The framework of the VDC method was further used for impedance [18] and admittance [19] control methods. For hydraulic robotic manipulators, [18] proposed a new Cartesian space impedance control method suited to nonlinear hydraulic manipulator dynamics.…”

Section: Introductionmentioning

confidence: 99%

Distributed Control of Coordinated Dissimilar Upper-limb Exoskeleton Robots

Tahamipour-Z.¹,

Mattila²

2022

Preprint

View full text Add to dashboard Cite

<p>Upper-limb exoskeletons (ULEs) have the potential to assist humans to accomplish tasks by distributing a heavy load. ULEs are designed to be comfortable and lightweight wearable robots which has resulted in complexity in their structures, actuators, and power transmissions. Additionally, different ULE vendor structures and biomechanical variations between humans resulted in dissimilar coordinated ULE systems. These complex multi-robot systems can be handled by adaptive virtual decomposition control (VDC) if unknown dynamic models are not considered. Hence, this paper proposes a new distributed framework for the adaptive impedance-based VDC method to the address abovementioned challenges and thereby enhance the system performance and robustness. To that end, the proposed control method has a prediction capability and an ancillary control law for coordinated dissimilar ULEs holding a common object. The system stability is analyzed using the input-to-state stability approach. For validation, the proposed control and a state-of-the-art adaptive VDC methods are implemented on a symmetric bimanual exoskeleton with seven degrees of freedom for each arm. Four bimanual task scenarios are performed with different internal arm forces and with/without an obstacle. The experimental results show the superiority of the proposed control method. </p>

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VDC-based admittance control of multi-DOF manipulators considering joint flexibility via hierarchical control framework

Cited by 11 publications

References 37 publications

Distributed Impedance Control of Coordinated Dissimilar Upper-Limb Exoskeleton Arms

Distributed Impedance Control of Coordinated Dissimilar Upper-Limb Exoskeleton Arms

A dual-loop feedback trajectory tracking control for rock drilling hydraulically driven manipulator

Distributed Control of Coordinated Dissimilar Upper-limb Exoskeleton Robots

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