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Journal articles on the topic 'Force based impedance control'
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1
Kong, Dexin, and Qingjiu Huang. "Impedance Force Control of Manipulator Based on Variable Universe Fuzzy Control." Actuators 12, no. 8 (2023): 305. http://dx.doi.org/10.3390/act12080305.
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Impedance control is a classic and straightforward control method that finds wide applications in various fields. However, traditional constant impedance control requires prior knowledge of the environment’s stiffness and position information. If the environmental information is unknown, constant impedance control is not capable of handling the task. To address this, this paper proposes a variable universe fuzzy model reference adaptive impedance control method that achieves effective force tracking even in the presence of unknown environmental information. A variable universe fuzzy controller was employed to determine the impedance parameters. The force tracking error and its rate of change were used as two input parameters for the variable universe fuzzy controller, which utilizes fuzzy inference to obtain the incremental values of the impedance parameters. For the introduced model reference controller, a novel adaptive law was employed to obtain the coefficients for contact force and torque. Subsequently, the contact force of the manipulator in Cartesian space was taken as the research object, and a simulation model of a six-joint manipulator was established in MATLAB/Simulink. By comparing it with the constant impedance control method, the feasibility and effectiveness of this control approach were validated.
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Wen, K., D. Necsulescu, and J. Sasiadek. "HAPTIC FORCE CONTROL BASED ON IMPEDANCE/ADMITTANCE CONTROL." IFAC Proceedings Volumes 38, no. 1 (2005): 427–32. http://dx.doi.org/10.3182/20050703-6-cz-1902.01341.
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Li, Wen Jun, Bai Ling An, and Hong Kun Zhang. "Adaptive Multiple Impedance Control Based on Passivity." Applied Mechanics and Materials 34-35 (October 2010): 265–70. http://dx.doi.org/10.4028/www.scientific.net/amm.34-35.265.
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Adaptive multiple impedance control based on passivity is studied about two robot manipulators cooperating an object which interacts with external environment actively. The dynamic model is derived by Newton-Euler equation and the relations between the forces are analyzed. The relations between stiffness coefficient and convergence are explained by solving the differential equation when the stiffness coefficient is known. The adaptive impedance controller based on passivity is designed combining adaptive control and generalized impedance control when the stiffness coefficient is unknown. The impedance control based on internal force is adopted for the cooperative system. The simulation results prove the validity of the method.
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Yu, Xiaowei, Wei Ji, Hongwei Zhang, Chengzhi Ruan, Bo Xu, and Kaiyang Wu. "Grasping Force Optimization and DDPG Impedance Control for Apple Picking Robot End-Effector." Agriculture 15, no. 10 (2025): 1018. https://doi.org/10.3390/agriculture15101018.
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To minimize mechanical damage caused by an apple picking robot end-effector during the apple grasping process, and on the basis of optimizing the minimum stable grasping force of apple, a variable impedance control strategy based on a reinforcement learning deep deterministic policy gradient (DDPG) algorithm is proposed to achieve compliant grasping control for apples. Firstly, according to the apple contact force model, the gradient flow algorithm is adopted to optimize grasping force in terms of the friction cone, force balancing condition, and stability assessment index and to obtain a minimum stable grasping force for apples. Secondly, based on the analysis of the influence of impedance parameters on the control system, a variable impedance control based on the DDPG algorithm is designed, with the reward function adopted so as to improve the control performance. Then, the improved control strategy is used to train the optimized impedance control. Finally, simulation and experimental results indicate that the proposed variable impedance control outperforms the traditional impedance control by reducing the peak grasping force from 4.49 N to 4.18 N while achieving a 0.6 s faster adjustment time and a 0.24 N narrower grasping force fluctuation range. The improved impedance control successfully tracks desired grasping forces for apples of varying sizes and significantly reduces mechanical damage during apple harvesting.
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Dong, Xiao Xing, Ge Li, Geng Feng Liu, and Jie Zhao. "Cartesian Impedance Control for Space Robotic Arm Based on End Force/Torque Sensor." Applied Mechanics and Materials 268-270 (December 2012): 1531–37. http://dx.doi.org/10.4028/www.scientific.net/amm.268-270.1531.
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A Cartesian impedance control for a 7-DOF space robotic arm (SRA) based on the feedback from a 6-dimensional force/torque sensor on its end effecter is presented in this paper. The unavoidable position error of SRA would generate large contact forces during the connection between SRA’s end effecter (EE) and grapple fixture (GF). To control the contact force we used 6D force feedback to modify the desired trajectory controlling a PID position inner loop to make the manipulator exert desired impedance dynamic properties on its end-effecter. After optimization of impedance parameters in Simulink, this control strategy has significantly improved the force control effect in EE/GF connection experiment. Kinematic solution of the 7-DOF redundant manipulator is also provided.
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Yuan, Jianjun, Yingjie Qian, Liming Gao, Zhaohan Yuan, and Weiwei Wan. "Position-based impedance force controller with sensorless force estimation." Assembly Automation 39, no. 3 (2019): 489–96. http://dx.doi.org/10.1108/aa-09-2018-0124.
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Purpose This paper aims to purpose an improved sensorless position-based force controller in gravitational direction for applications including polishing, milling and deburring. Design/methodology/approach The first issue is the external force/torque estimation at end-effector. By using motor’s current information and Moore-Penrose generalized inverse matrix, it can be derived from the external torques of every joints for nonsingular cases. The second issue is the force control strategy which is based on position-based impedance control model. Two novel improvements were made to achieve a better performance. One is combination of impedance control and explicit force control. The other one is the real-time prediction of the surface’s shape allowing the controller adaptive to arbitrary surfaces. Findings The result of validation experiments indicates that the estimation of external force and prediction of surface’s shape are credible, and the position-based constant contact force controller in gravitational direction is functional. The accuracy of force tracking is adequate for targeted applications such as polishing, deburring and milling. Originality/value The value of this paper lies in three aspects which are sensorless external force estimation, the combination of impedance control and explicit force control and the independence of surface shape information achieved by real-time surface prediction.
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Gu, Longhao, and Qingjiu Huang. "Adaptive Impedance Control for Force Tracking in Manipulators Based on Fractional-Order PID." Applied Sciences 13, no. 18 (2023): 10267. http://dx.doi.org/10.3390/app131810267.
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Force tracking control in robot arms has been widely used in many industrial applications, particularly in tasks involving end effectors and environmental contact, such as grinding, polishing, and other similar operations. However, these environments are not always precisely known. In order to address the force tracking control problem in unknown environments, this paper proposes a fractional-order PID adaptive impedance control strategy based on traditional impedance control. The unknown environmental information is estimated online using the adaptive impedance control algorithm, and the estimated parameters are used to generate reference trajectories to reduce force tracking errors. Fractional-order PID control is then introduced into the system to improve the control performance of the system model, and the theoretical proof of strategy stability is conducted. Finally, a comparison of four strategies was conducted through simulations: traditional impedance control, adaptive hybrid impedance control, adaptive variable impedance control, and the fractional-order PID impedance control proposed in this paper. The simulation results demonstrate that the strategy proposed in this paper exhibits robustness, virtually eliminates overshoot, and enhances response speed. In contrast, both adaptive hybrid impedance control and adaptive variable impedance control exhibit approximately 30% to 45% overshoot during interactions with the environment. Furthermore, in terms of force tracking error, the proposed strategy in this paper outperforms the above two strategies by approximately 29% to 60%, achieving excellent force tracking control performance.
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Xiao, Jianming, and Xinrui Zhou. "Research on force-controlled polishing system for robotic arm based on compliance control." Journal of Physics: Conference Series 2764, no. 1 (2024): 012055. http://dx.doi.org/10.1088/1742-6596/2764/1/012055.
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Abstract This thesis enhances robotic arm control in intricate polishing environments by using impedance control for consistent force regulation between the arm and workpiece. An adaptive impedance control algorithm accommodates contact force variations, boosting system robustness. The PSO-BP variable impedance controller integrates particle swarm optimization and BP neural network for real-time optimization, overcoming limitations of fixed-parameter impedance control on surfaces with curvature changes. Experimental results show a significant reduction in polishing force fluctuations and improved force tracking. These findings support efficient robotic arm utilization in polishing tasks.
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Ding, Yixiao, Ying Luo, and Yangquan Chen. "Dynamic Feedforward-Based Fractional Order Impedance Control for Robot Manipulator." Fractal and Fractional 7, no. 1 (2023): 52. http://dx.doi.org/10.3390/fractalfract7010052.
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Impedance control is widely applied in contact force control for robot manipulators. The traditional impedance model is linear, and has limitations in describing the actual impedance force. In addition, time-varying and dynamic coupling characteristics pose critical challenges to high-speed and high-precision impedance control. In this paper, a fractional order impedance controller (FOIC) is proposed for industrial robot manipulator control and a systematic FOIC parameters tuning strategy based on frequency-domain specifications is presented. In order to improve performance under dynamic disturbances, a dynamic feedforward-based fractional order impedance controller (DFF-FOIC) is further developed. The robot manipulator dynamics are investigated and the effectiveness of the DFF-FOIC is illustrated by simulation. Then, the DFF-FOIC is applied on a physical robot manipulator prototype. Our step force tracking test results show that the proposed FOIC has better control performance than an integer order impedance controller (IOIC), achieving a better step response with lower overshoot, less settling time, and smaller integral time absolute error (ITAE) than the IOIC under fair comparison conditions.
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Zhang, Tie, and Xiaohong Liang. "Disturbance Observer-Based Robot End Constant Contact Force-Tracking Control." Complexity 2019 (October 29, 2019): 1–20. http://dx.doi.org/10.1155/2019/5802453.
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A disturbance observer-based hybrid sliding mode impedance control method is proposed in this paper, which is able to achieve robot end constant contact force-tracking control without force/torque sensors. The method requires only the values of joint torque, joint angle, and joint angular velocity, which are converted by robot servo motor signals, to implement the control. The control scheme consists of two parts: one is a disturbance observer and the other is a hybrid sliding mode impedance controller. The disturbance observer, which takes robot internal signals mentioned above as the inputs to estimate the robot end contact force, is designed based on generalized momentum, thus improving the estimation accuracy. The hybrid sliding mode impedance controller, which uses the values estimated by the disturbance observer and the robot internal signals as the inputs to calculate the corresponding position adjustment, integrates both the impedance control and sliding mode control, thus improving the force-tracking performance and robustness. Experimental results show that the proposed disturbance observer-based hybrid sliding mode impedance control method possesses high control precision.
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Peng, Jinzhu, Zeqi Yang, and Tianlei Ma. "Position/Force Tracking Impedance Control for Robotic Systems with Uncertainties Based on Adaptive Jacobian and Neural Network." Complexity 2019 (January 3, 2019): 1–16. http://dx.doi.org/10.1155/2019/1406534.
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In this paper, an adaptive Jacobian and neural network based position/force tracking impedance control scheme is proposed for controlling robotic systems with uncertainties and external disturbances. To achieve precise force control performance indirectly by using the position tracking, the control scheme is divided into two parts: the outer-loop force impedance control and the inner-loop position tracking control. In the outer-loop, an improved impedance controller, which combines the traditional impedance relationship with the PID-like scheme, is designed to eliminate the force tracking error quickly and to reduce the force overshoot effectively. In this way, the satisfied force tracking performance can be achieved when the manipulator contacts with environment. In the inner-loop, an adaptive Jacobian method is proposed to estimate the velocities and interaction torques of the end-effector due to the system kinematical uncertainties, and the system dynamical uncertainties and the uncertain term of adaptive Jacobian are compensated by an adaptive radial basis function neural network (RBFNN). Then, a robust term is designed to compensate the external disturbances and the approximation errors of RBFNN. In this way, the command position trajectories generated from the outer-loop force impedance controller can be then tracked so that the contact force tracking performance can be achieved indirectly in the forced direction. Based on the Lyapunov stability theorem, it is proved that all the signals in closed-loop system are bounded and the position and velocity errors are asymptotic convergence to zero. Finally, the validity of the control scheme is shown by computer simulation on a two-link robotic manipulator.
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Bonitz, R. C., and T. C. Hsia. "Internal force-based impedance control for cooperating manipulators." IEEE Transactions on Robotics and Automation 12, no. 1 (1996): 78–89. http://dx.doi.org/10.1109/70.481752.
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Li, Chao, Zhi Zhang, Guihua Xia, Xinru Xie, and Qidan Zhu. "Efficient Force Control Learning System for Industrial Robots Based on Variable Impedance Control." Sensors 18, no. 8 (2018): 2539. http://dx.doi.org/10.3390/s18082539.
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Learning variable impedance control is a powerful method to improve the performance of force control. However, current methods typically require too many interactions to achieve good performance. Data-inefficiency has limited these methods to learn force-sensitive tasks in real systems. In order to improve the sampling efficiency and decrease the required interactions during the learning process, this paper develops a data-efficient learning variable impedance control method that enables the industrial robots automatically learn to control the contact force in the unstructured environment. To this end, a Gaussian process model is learned as a faithful proxy of the system, which is then used to predict long-term state evolution for internal simulation, allowing for efficient strategy updates. The effects of model bias are reduced effectively by incorporating model uncertainty into long-term planning. Then the impedance profiles are regulated online according to the learned humanlike impedance strategy. In this way, the flexibility and adaptivity of the system could be enhanced. Both simulated and experimental tests have been performed on an industrial manipulator to verify the performance of the proposed method.
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Wei, Ji, Ding Yi, Xu Bo, Chen Guangyu, and Zhao Dean. "Adaptive Variable Parameter Impedance Control for Apple Harvesting Robot Compliant Picking." Complexity 2020 (April 4, 2020): 1–15. http://dx.doi.org/10.1155/2020/4812657.
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In order to reduce the damage of apple harvesting robot to fruits and achieve compliant picking, an adaptive variable parameter impedance control method for apple harvesting robot compliant picking is proposed in this paper. Firstly, the Burgers viscoelastic model is used to characterize the rheological properties of apples and study the variation of mechanical properties of apple grasping at different speeds. Then, a force-based impedance control system is designed. On this basis, aiming at the influence of impedance controller parameters on contact force, three impedance parameters self-tuning functions are constructed to complete the design of an improved force-based impedance control system based on the hyperbolic secant function. The simulation and experimental results show that the proposed control makes the desired force smoother, and its overshoot is about 2.3%. The response speed is faster, and the adjustment time of contact force is shorter of about 0.48 s. The contact force overshoot is about 2%, which is 37.5% less than that of the traditional force-based impedance control. This research improves the control performance for apple harvesting robot compliant picking.
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Su, JiaLei. "Research on Control Strategy of Manipulator Based on Simulation." Journal of Physics: Conference Series 2093, no. 1 (2021): 012007. http://dx.doi.org/10.1088/1742-6596/2093/1/012007.
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Abstract The force supple control method of robotic arm has been widely researched internationally for many years, and its specific use varies according to the structure of the robotic arm, the location of the sensor, the working space environment, and other factors. Based on the force control principle and control method of the space robot arm, this paper adopts the position-based Cartesian spatial impedance control and proposes an effective forcesmoothing control method after pre-processing the feedback signal of the six-dimensional force sensor installed at the end of the space robot arm with the coordinate system conversion. In addition, the proposed position-based Cartesian spatial impedance control method is modeled and simulated to analyze the effect of each control element on the force-following control effect, to find out the control conditions that can optimize the force-position control effect, and finally to optimize the impedance parameters. This study aims to promote the rapid development of the field of robotic arm control.
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Terashima, Kazuhiko, Takanori Miyoshi, Keisuke Mouri, Hideo Kitagawa, and Panya Minyong. "Hybrid Impedance Control of Massage Considering Dynamic Interaction of Human and Robot Collaboration Systems." Journal of Robotics and Mechatronics 21, no. 1 (2009): 146–55. http://dx.doi.org/10.20965/jrm.2009.p0146.
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This paper proposes an intelligent massage control system that uses a multi-fingered robot hand with hybrid impedance control, which is able to recreate the movement and force of a human massage therapist. Therefore, various massage points, such as changes in the stiffness of human skin muscle, can be controlled by using an impedance control method. A hybrid impedance control, comprised of position-based and force-based control methods, was developed. The position-based impedance control is used to control the lateral position of massage on the human skin muscle. On the other hand, the force-based impedance control is used to control the force of the vertical direction on human skin muscle. This paper also identifies human skin muscle through robot perception of impedance to decide on the parameters of the impedance controller. A strategy using impedance control to implement an adaptive control system is presented, under the conditions of both soft and hard skin and muscle. The effectiveness of this massage control system using a multi-fingered robot hand with hybrid impedance control is demonstrated through realistic massage experiments involving pushing and rubbing motions.
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Tsumugiwa, Toru, Miho Yura, Atsushi Kamiyoshi, and Ryuichi Yokogawa. "Development of Mechanical-Impedance-Varying Mechanism in Admittance Control." Journal of Robotics and Mechatronics 30, no. 6 (2018): 863–72. http://dx.doi.org/10.20965/jrm.2018.p0863.
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There have been numerous studies on the physical human-robot cooperative task system with impedance/admittance control in robot motion control. However, the problem of stability persists, wherein the control system becomes unstable when the robot comes into contact with a highly stiff environment. A variable impedance control strategy was proposed to circumvent this stability problem. However, a number of studies on variable impedance control are based on the variation of a parameter in the robot motion control software, and a mechanical variable impedance control has not been proposed. The purpose of this research is to propose a mechanical variable impedance control strategy using a mechanical device based on the lever principle. The proposed mechanism can adjust the magnitude of the input force to the force sensor by changing the position of application of the operating force on the beam. Adjusting the magnitude of the input force to the force sensor is equivalent to varying the impedance parameters of the robot; therefore, it is feasible to achieve mechanical variable impedance control using the proposed mechanism. In this study, the gain adjustment characteristics of the proposed mechanism were evaluated. The experimental results demonstrated that the operator can vary the impedance parameters of the robot by mechanically adjusting the input force to the force sensor and operating the robot using the proposed mechanism.
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An, Hao, Chao Ye, Zikang Yin, and Weiyang Lin. "Neural Adaptive Impedance Control for Force Tracking in Uncertain Environment." Electronics 12, no. 3 (2023): 640. http://dx.doi.org/10.3390/electronics12030640.
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Torque-based impedance control, a kind of classical active compliant control, is widely required in human–robot interaction, medical rehabilitation, and other fields. Adaptive impedance control effectively tracks the force when the robot comes in contact with an unknown environment. Conventional adaptive impedance control (AIC) introduces the force tracking error of the last moment to adjust the controller parameters online, which is an indirect method. In this paper, joint friction in the robot system is first identified and compensated for to enable the excellent performance of torque-based impedance control. Second, neural networks are inserted into the torque-based impedance controller, and a neural adaptive impedance control (NAIC) scheme with directly online optimized parameters is proposed. In addition, NAIC can be deployed directly without the need for data collection and training. Simulation studies and real-world experiments with a six link rotary robot manipulator demonstrate the excellent performance of NAIC.
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Li, Linshen, Fan Wang, Huilin Tang, and Yanbing Liang. "Variable-Parameter Impedance Control of Manipulator Based on RBFNN and Gradient Descent." Sensors 25, no. 1 (2024): 49. https://doi.org/10.3390/s25010049.
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During the interaction process of a manipulator executing a grasping task, to ensure no damage to the object, accurate force and position control of the manipulator’s end-effector must be concurrently implemented. To address the computationally intensive nature of current hybrid force/position control methods, a variable-parameter impedance control method for manipulators, utilizing a gradient descent method and Radial Basis Function Neural Network (RBFNN), is proposed. This method employs a position-based impedance control structure that integrates iterative learning control principles with a gradient descent method to dynamically adjust impedance parameters. Firstly, a sliding mode controller is designed for position control to mitigate uncertainties, including friction and unknown perturbations within the manipulator system. Secondly, the RBFNN, known for its nonlinear fitting capabilities, is employed to identify the system throughout the iterative process. Lastly, a gradient descent method adjusts the impedance parameters iteratively. Through simulation and experimentation, the efficacy of the proposed method in achieving precise force and position control is confirmed. Compared to traditional impedance control, manual adjustment of impedance parameters is unnecessary, and the method can adapt to tasks involving objects of varying stiffness, highlighting its superiority.
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Li, Xin, Guanjun Ma, and Donghao Wang. "Research on Bowden Cable–Fabric Force Transfer System Based on Force/Displacement Compensation and Impedance Control." Applied Sciences 13, no. 21 (2023): 11766. http://dx.doi.org/10.3390/app132111766.
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Bowden cable–fabric is a key force transfer device for flexible exoskeletons, and its precise control of force/displacement is a significant factor in the human–machine interaction of flexible exoskeletons. In this paper, a force/displacement control method based on friction compensation and impedance control was proposed based on a flexible Bowden cable–fabric force transfer testbed system. First, a set of in vitro experimental platforms simulating Bowden cable–fabric force transfer was built according to a typical flexible exoskeleton force transfer system, and following the walking gait of lower limbs, the expected force and knee joint motion were set. Secondly, the Bowden cable–fabric force transfer friction model was constructed as the basis of the system’s force transfer compensation. In addition, the stiffness model of Bowden cable–fabric and the lower leg movement model were established and combined with impedance control to realize the precise control of system displacement. Finally, the damping and stiffness parameters suitable for the system were obtained through the impedance control simulation. In terms of the experiment, an in vitro Bowden cable–fabric force transfer experimental platform was built, and the expected force with the input peak value of 40 N, 50 N, and 60 N was set. Through the friction and position compensation model of Bowden cable–fabric force transfer and impedance control, the relative root-mean-square errors of the output force and expected force were obtained as 2.53%, 2.16%, and 2.07%, respectively. Therefore, the effectiveness of the proposed method is verified, which provides a foundation for the engineering application of flexible exoskeletons.
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YILMAZLAR, Eray. "FORCE BASED IMPEDANCE CONTROL OF 5-BAR PARALLEL ROBOT MANIPULATOR." Mühendislik Bilimleri ve Tasarım Dergisi 11, no. 4 (2023): 1452–60. http://dx.doi.org/10.21923/jesd.1300482.
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The interaction of robots with the environment is increasing in many sectors. In particular, position and force-dependent interactions are frequently used in sensitive applications. In this interaction control, impedance control method answer the need. The parallel robot manipulator is one of the models that is widely used in this field and constitutes the basic of many robot designs. In this study, an exemplary 5-limb robot manipulator is designed. Position change according to the amount of load applied on this manipulator was realized with impedance control. Force amount measurement was applied using loadcell. The position change was calculated with the forward kinematic calculations of the manipulator. This calculation and control process was realized on the Arduino Mega embedded system board. With this experiment application study, the behaviour analysis of the robot manipulator was examined according to the stiffness and damping coefficients that affect the impedance control, and the ideal coefficients for the designed manipulator were determined.
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Jiang, Li, Yang Zhou, Bin Wang, and Chao Yu. "Impedance Control of Dual-Arm Systems Based on the Object with Senseless Force." Advanced Materials Research 765-767 (September 2013): 1920–23. http://dx.doi.org/10.4028/www.scientific.net/amr.765-767.1920.
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A novel approach to impedance control based on the object is proposed to control dual-arm systems with senseless force. Considering the motion of the object, the statics and dynamics of the dual-arm systems are modeled. Extending the dynamics of dual-arm system and the impedance of object to the operational space, impedance control with senseless force is presented. Simulations on a dual-arm system are carried out to demonstrate the performance of the proposed control scheme. Comparing with position control, results of numerical simulations show that the proposed scheme realizes suitable compliant behaviors in terms of the object, and minimizes the error of the relative position between the manipulators even without force sensors.
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Liu, Xia, Jianguo Wu, and Lu Wang. "Sensorless variable impedance compliant control for human–robot interaction." AIP Advances 12, no. 11 (2022): 115121. http://dx.doi.org/10.1063/5.0118066.
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In order to improve compliance in human–robot interaction, a sensorless variable impedance control method is proposed. Variable impedance control is constructed using the end-effector velocity and the human–robot interaction force. Then, the impedance parameters are adjusted online to make the end-effector velocity more compliant with human behavior. Next, a velocity controller is designed to stabilize the end-effector velocity, and a compensation force is designed to avoid the measurement of the interaction force. Based on the velocity controller and the compensation force, an integrated controller is constructed to achieve stable end-effector velocity while compensating the interaction force online. The Lyapunov theory proves that with the sensorless variable impedance control, the system is stable, and the velocity tracking is bounded; simulation results demonstrate its feasibility. The sensorless variable impedance control can achieve more stable velocity and better compliance in human–robot interaction.
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Dai, Junjie, Chin-Yin Chen, Renfeng Zhu, Guilin Yang, Chongchong Wang, and Shaoping Bai. "Suppress Vibration on Robotic Polishing with Impedance Matching." Actuators 10, no. 3 (2021): 59. http://dx.doi.org/10.3390/act10030059.
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Installing force-controlled end-effectors on the end of industrial robots has become the mainstream method for robot force control. Additionally, during the polishing process, contact force stability has an important impact on polishing quality. However, due to the difference between the robot structure and the force-controlled end-effector, in the polishing operation, direct force control will have impact during the transition from noncontact to contact between the tool and the workpiece. Although impedance control can solve this problem, industrial robots still produce vibrations with high inertia and low stiffness. Therefore, this research proposes an impedance matching control strategy based on traditional direct force control and impedance control methods to improve this problem. This method’s primary purpose is to avoid force vibration in the contact phase and maintain force–tracking performance during the dynamic tracking phase. Simulation and experimental results show that this method can smoothly track the contact force and reduce vibration compared with traditional force control and impedance control.
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Wang, Xian Lun, Yong Wang, and Yun Na Xue. "Application of an Intelligent Force Controller for Robotic Deburring Process." Materials Science Forum 532-533 (December 2006): 456–59. http://dx.doi.org/10.4028/www.scientific.net/msf.532-533.456.
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To achieve the desired dynamic impedance and the smooth chamfer contour, some adaptive controls and intelligent control schemes are incorporated in the impedance control for uncertain constrained robot systems. Most of them still result in an uneven chamfer for its characteristics in nature as the burrs vary highly. In this paper, an intelligent force controller based on impedance control with a neural network compensator is proposed for the robotic deburring process. The compensator is used to deal with the various burrs by modifying the input command according to the contact force and reference position. The performance of the intelligent force controller is compared with the conventional impedance control. The effectiveness of the proposed approach is testified by simulation experiments of the robotic deburring process.
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Wang, Xianlun, Chuanhuan Li, Dexin Cai, and Yuxia Cui. "Research on Adaptive Variable Impedance Control Method Based on Adaptive Neuro-Fuzzy Inference System." Sensors 25, no. 10 (2025): 3055. https://doi.org/10.3390/s25103055.
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Precise force tracking and overshoot suppression are critical for manipulator dynamic contact tasks, especially in unstructured environments such as complex surface cleaning that rely on dynamic feedback from force sensors. Traditional impedance control methods exhibit limitations through excessive force overshoot and steady-state error, severely impacting cleaning performance. To address this problem, this paper introduces proportional–integral–derivative (PID) control based on the traditional impedance model and verifies the stability and convergence of the controller through theoretical analysis. Meanwhile, to improve the applicability of the controller and avoid using expert experience to formulate fuzzy rules, this paper designs an adaptive neuro-fuzzy inference system (ANFIS) to dynamically adjust the update rate. To validate the effectiveness of the proposed method, simulation experiments mirroring real-world scenarios of contact cleaning tasks are constructed in Simulink. The results demonstrate that, compared to adaptive impedance control (AIC) and adaptive variable impedance control (AVIC), the proposed controller achieves a faster steady-state response and exhibits negligible overshoot and minimal force steady-state error during both constant and sinusoidal force tracking. Furthermore, the controller demonstrates superior stability under abrupt changes in stiffness and desired force.
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Li, Mingjie, and Qiang Zhang. "Adaptive Robust Fuzzy Impedance Control of an Electro-Hydraulic Actuator." Applied Sciences 12, no. 19 (2022): 9575. http://dx.doi.org/10.3390/app12199575.
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This paper concentrates on both velocity and force control of a single-rod electro-hydraulic actuator in the presence of parameter uncertainties and uncertain nonlinearities. Both velocity control and force control are required in some cases. Impedance control and adaptive robust control are synthesized to deal with this problem. In this paper, the primary goal is velocity control while the contact force is kept in an acceptable range. To keep proper contact force with environment or workpieces, impedance control is adopted to regulate the dynamic relationship between velocity and force. Fuzzy logic is used to adjust the parameters of impedance rules to improve control performance. The velocity command of adaptive robust velocity control is determined by impedance control based on fuzzy logic. Parameter uncertainties and uncertain nonlinearities can be compensated through adaptive robust velocity control, which leads to accurate velocity tracking. The stability of the overall system was analyzed. Comparative experiments verified that the proposed control strategy has both high-accuracy velocity tracking and force regulation performance.
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Su, Yu, Haiyan Liu, You Li, et al. "Research on Hybrid Force Control of Redundant Manipulator with Reverse Task Priority." Materials 15, no. 19 (2022): 6611. http://dx.doi.org/10.3390/ma15196611.
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This paper presents the reverse priority impedance control of manipulators with reference to redundant robots of a given task. The reverse priority kinematic control of redundant manipulators is first expressed in detail. The motion in the joint space is derived following the opposite order compared with the classical task priority–based solution. Then the Cartesian impedance control is combined with the reverse priority impedance control to solve the reverse hierarchical impedance controlled, so that the Cartesian impedance behavior can be divided into the primary priority impedance control and the secondary priority impedance control. Furthermore, the secondary impedance control task will not disturb the primary impedance control task. The motion in the joint space is affected following the opposite order and working in the corresponding projection operators. The primary impedance control tasks are implemented at the end, so as to avoid the possible deformations caused by the singularities occurring in the secondary impedance control tasks. Hence, the proposed reverse priority impedance control of manipulator can achieve the desired impedance control tasks with proper hierarchy. In this paper, the simulation experiments of the manipulator will verify the proposed reverse priority control algorithm.
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Zhang, Ting, Li Jiang, Shaowei Fan, Xinyu Wu, and Wei Feng. "Development and experimental evaluation of multi-fingered robot hand with adaptive impedance control for unknown environment grasping." Robotica 34, no. 5 (2014): 1168–85. http://dx.doi.org/10.1017/s0263574714002161.
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SUMMARYThis paper presents adaptive impedance controllers with adaptive sliding mode friction compensation for anthropomorphic artificial hand. A five-fingered anthropomorphic artificial hand with multi-sensory and Field-Programmable Gate Arra (FPGA)-based control hardware and software architecture is designed to fulfill the requirements of the grasping force controller. In order to improve the force-tracking precision, the indirect adaptive algorithm was applied to estimate the parameters of the environment. The generalized momentum-based disturbance observer was applied to estimate the contact force from the torque sensor. Based on the sensors of the finger, an adaptive sliding mode friction compensation algorithm was utilized to improve the accuracy of the position control. The performances of the force-tracking impedance controller and position-based joint impedance control for the five-fingered anthropomorphic artificial hand are analyzed and compared in this paper. Furthermore, the performances of the force-tracking impedance controller with environmental parameters adaptive estimation and without environmental parameters estimation are analyzed and compared. Experimental results prove that accurate force-tracking and stable torque/force response under uncertain environments of unknown stiffness and position can be achieved with the proposed adaptive force-tracking impedance controller with friction compensation on five-finger artificial hand.
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Chen, Zhi Gang, Cui Ru Wu, and Guang Yu Zhang. "Research on the Space Manipulator Control in Capturing Object Based on Noncontact Impedance Control." Advanced Materials Research 546-547 (July 2012): 1014–19. http://dx.doi.org/10.4028/www.scientific.net/amr.546-547.1014.
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This paper discusses the control of free flying space manipulators in the impact process which happens in the capturing operation. To solve the intense coupling of the kinematics and dynamics between the space manipulator and the base, this paper builds the noncontact impedance control model of the 6-joint space manipulator system, which can control the space manipulator before impacting with the objects. Computer simulations are performed to verify that the noncontact impedance control method can make the end-effector of the space manipulator keep desired dynamic characteristics and the adjustment of virtual impedance parameters can control the impact force value efficiently.
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Ahn, Jae Kook, and Seul Jung. "Development of a two-wheel mobile manipulator: balancing and interaction control." Robotica 32, no. 7 (2014): 1135–52. http://dx.doi.org/10.1017/s026357471300129x.
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SUMMARYThis paper focuses on practical application of a mobile manipulator by presenting the development and control of a two-wheel mobile robot with two arms called a balancing service robot (BSR) designated for indoor services. The mobile manipulator requires not only robust balancing position control but also force control to interact with objects. Movements with two wheels are controlled to satisfy stable balancing control for navigation and manipulation with two arms to perform given tasks. The robot is required to deal with external forces to maintain balance. The position-based impedance force control method (the admittance control) is utilized by filtering the force with the impedance function to react to the applied force from the operator. Experimental studies of navigation control under balancing condition and interacting control with a human operator are demonstrated. Experimental results confirm that the robot has smooth reaction against the disturbance induced by the applied external force.
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Du, Yanli, and Quanmin Zhu. "Decentralized adaptive force/position control of reconfigurable manipulator based on soft sensors." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 232, no. 9 (2018): 1260–71. http://dx.doi.org/10.1177/0959651818779848.
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Two soft sensor control methods are proposed to deal with force/position control of reconfigurable manipulator without using wrist force sensors. First, modeling uncertainties and coupled interconnection terms between the subsystems are approximated by using adaptive radial basis function neural network, and the soft sensor model of the contact force is established by means of adaptive radial basis function neural network to design hybrid force/position controller. Then, a decentralized explicit force controller based on impedance inner control is designed. The reference trajectory of impedance inner controller is provided by explicit force controller based on the fuzzy prediction, and the soft sensor model of the contact force is established by the fuzzy system. The proposed soft sensor models do not request the exact mathematical relationship between the contact force and auxiliary variables and provide a feasible method to replace the wrist force sensors which are expensive and easily influenced by the external factors. Compared with the observer method, the proposed soft sensor methods do not depend on the knowledge about the model of reconfigurable manipulator, so provide better position and force tracking precision.
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Wang, Kai, and Xing Song Wang. "Adaptive Impedance Control for a Tendon-Sheath-Driven Compliant Gripper." Applied Mechanics and Materials 532 (February 2014): 74–77. http://dx.doi.org/10.4028/www.scientific.net/amm.532.74.
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This paper investigates the feasibility of adaptive impedance control scheme for compliant gripper. A compliant gripper was designed for manipulation tasks requiring precision position and force control. The gripper is actuated by tendon-sheath transmission system and use strain gages to measure both the displacement and gripping force. Position based impedance control is used to control the contact force to made the gripper more compliantly. Due to the nonlinear of the structure; it is difficult to establish the mathematic model and kinematical equations. Therefore, combine model reference adaptive control strategy with impedance control to realize the soft control of the compliant gripper.
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Zhou, Haibo, Shitai Ma, Guilian Wang, Yuxin Deng, and Zhenzhong Liu. "A hybrid control strategy for grinding and polishing robot based on adaptive impedance control." Advances in Mechanical Engineering 13, no. 3 (2021): 168781402110040. http://dx.doi.org/10.1177/16878140211004034.
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In order to realize the active and compliant motion of the robot, it is necessary to eliminate the impact caused by processing contact. A hybrid control strategy for grinding and polishing robot is proposed based on adaptive impedance control. Firstly, an electrically driven linear end effector is designed for the robot system. The macro and micro motions control model of the robot is established, by using impedance control method, which based on the contact model of the robot system and the environment. Secondly, the active compliance method is adopted to establish adaptive force control and position tracking control strategies under impact conditions. Finally, the algorithm is verified by Simulink simulation and experiment. The simulation results are as follows: The position tracking error does not exceed 0.009 m, and the steady-state error of the force is less than 1 N. The experimental results show that the motion curve coincides with the surface morphology of the workpiece, and the contact force is stable at 10 ± 3 N. The algorithm can realize more accurate position tracking and force tracking, and provide a reference for the grinding and polishing robot to realize surface processing.
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丁, 庆鹏. "Research on Foot Force Control of Quadruped Robot Based on Impedance Control." International Journal of Mechanics Research 05, no. 04 (2016): 121–28. http://dx.doi.org/10.12677/ijm.2016.54011.
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Wen, K., D. Necsulescu, and J. Sasiadek. "Haptic force control based on impedance/admittance control aided by visual feedback." Multimedia Tools and Applications 37, no. 1 (2007): 39–52. http://dx.doi.org/10.1007/s11042-007-0172-1.
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Dizaji, Mostafa Rahimi, Mohammad Reza Hairi Yazdi, and Moteaal Asadi Shirzi. "Fuzzy Logic Based Impedance Control to Monitor on Torque under Impulsive Loading." Applied Mechanics and Materials 110-116 (October 2011): 5345–50. http://dx.doi.org/10.4028/www.scientific.net/amm.110-116.5345.
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This paper is devoted to design a control system for robot manipulator to optimize motor torque due to external impulsive loading exerted on the manipulator. Under impulsive loading, overloading may occur in the absence of any monitoring on the torque. To avoid the overloading, impedance control is proposed as a force control strategy. Here impedance control based on force feedback of which has hit the end-effector modifies the reference trajectory. In fact, instead of resisting against impulsive loading up to extreme power of the motor, the proposed design generates small movements in the direction of impact. Therefore, the motor produces less torque in comparison to the absence of impedance control. A supervisory system assisting fuzzy logic has been used to adapt impedance controller parameters with various impact conditions. The simulation result confirms the improvement of the manipulator behavior which yields sensible reduction in motor developed torque in comparison to single PID controller.
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Ding, Yixiao, Xiaolian Liu, Pengchong Chen, Xin Luo, and Ying Luo. "Fractional-Order Impedance Control for Robot Manipulator." Fractal and Fractional 6, no. 11 (2022): 684. http://dx.doi.org/10.3390/fractalfract6110684.
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Impedance control is an important method in robot–environment interaction. In traditional impedance control, the damping force is regarded as a linear viscoelastic model, which limits the description of the dynamic model of the impedance system to a certain extent. For the robot manipulator, the optimal impedance parameters of the impedance controller are the key to improve the performance. In this paper, the damping force is described more accurately by fractional calculus than the traditional viscoelastic model, and a fractional-order impedance controller for the robot manipulator is proposed. A practical and systematic tuning procedure based on the frequency design method is developed for the proposed fractional-order impedance controller. The fairness of comparison between the fractional-order impedance controller and the integer-order impedance controller is addressed under the same specifications. Fair comparisons of the two controllers via the simulation and experiment tests show that, in the step response, the fractional-order impedance controller has a better integral time square error (ITSE) result, smaller overshoot and less settling time than the integer-order impedance controller. In terms of anti-disturbance, the fractional-order impedance controller can achieve stability with less recovering time and better ITSE index than integer order impedance controller.
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shimamura, Junji, and Masaki Arao. "Development of User-friendly Tuning for Impedance Control Parameters." Journal of Robotics and Mechatronics 13, no. 3 (2001): 230–37. http://dx.doi.org/10.20965/jrm.2001.p0230.
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Impedance control, a type of indirect force control, is a method for providing a control system with compliance against forces effected by external environment. This method is expected to be applied primarily to industrial purposes, but it has such disadvantages that the process for tuning its parameters is based on a trial-and-error rule and largely depends on the controlling skill of operators. This paper describes a parameter tuning tool capable of readily setting the optimum impedance parameters and then clarifies the effectiveness of the suggested tool according to the results of experiments conducted on IC test inserter. Operators are not necessarily required to acquire the knowledge about impedance control.
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Azlan, Norsinnira Zainul, Hiroshi Yamaura, and Iswanto Suwarno. "Function Approximation Technique-based Adaptive Force-Tracking Impedance Control for Unknown Environment." International Journal of Robotics and Control Systems 5, no. 1 (2025): 381–406. https://doi.org/10.31763/ijrcs.v5i1.1029.
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An accurate force-tracking in various applications may not be achieved without a complete knowledge of the environment parameters in the force-tracking impedance control strategy. Adaptive control law is one of the methods that is capable of compensating parameter uncertainties. However, the direct application of this technique is only effective for time-invariant unknown parameters. This paper presents a Function Approximation Technique (FAT)-based adaptive impedance control to overcome uncertainties in the environment stiffness and location with consideration of the approximation error in the FAT representation. The target impedance for the control law have been derived for unknown time-varying environment location and constant or time-varying environment stiffness using Fourier Series. This allows the update law to be derived easily based on Lyapunov stability method. The update law is formulated based on the force error feedback. Simulation results in MATLAB environment have verified the effectiveness of the developed control strategy in exerting the desired amount of force on the environment in x-direction, while precisely follows the required trajectory along y-direction, despite the constant or time-varying uncertainties in the environment stiffness and location. The maximum force error for all unknown environment tested has been found to be less than 0.1 N. The test outcomes for various initial assumption of unknown stiffness between 20000N/m to 120000N/m have shown consistent and excellent force tracking. It is also evident from the simulation results that the proposed controller is effective in tracking time-varying desired force under the limited knowledge of the environment stiffness and location.
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Xu, Xianjin, Shichao Hu, Yu Yan, Yuhang Yang, Zhiyong Yang, and Haoda Chen. "RLS Impedance Intelligence Control Algorithm for Wire Peeler of Robot in Complex Power Networks." Complexity 2020 (October 28, 2020): 1–14. http://dx.doi.org/10.1155/2020/8840421.
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Considering the wire core which is easily damaged because of the instability of the power distribution robot during the process of peeling the insulation layer, we have proposed a cutting force tracking control algorithm based on impedance control that is suitable for the end peeling instrument. At present, the task requirement of sudden changes about environment stiffness cannot be accomplished by many impedance control approaches due to the complexity of working environment stiffness about power distribution robot; then, the Recursive Least Square (RLS) method was introduced into the impedance control algorithm to identify the cable insulation layer and cable core stiffness online to achieve accurate and stable tracking of the cutting force. Furthermore, the impedance control of peeling cable insulation layer and the proposed RLS method were simulated and tested contrastively, and the high-voltage cable peeling experiment was performed. The results of simulation and experiment showed that the force control algorithm based on RLS parameter identification still has good force tracking performance during the environment stiffness changes suddenly, and the steady-state error approaches zero, demonstrating the feasibility and effectiveness of the RLS impedance control algorithm, which has important practical significance for improving power distribution efficiency.
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Jiang, Zhenhua, Zekai Wang, Qipeng Lv, and Jiantao Yang. "Impedance Learning-Based Hybrid Adaptive Control of Upper Limb Rehabilitation Robots." Actuators 13, no. 6 (2024): 220. http://dx.doi.org/10.3390/act13060220.
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This paper presents a hybrid adaptive control strategy for upper limb rehabilitation robots using impedance learning. The hybrid adaptation consists of a differential updating mechanism for the estimation of robotic modeling uncertainties and periodic adaptations for the online learning of time-varying impedance. The proposed hybrid adaptive controller guarantees asymptotical control stability and achieves variable impedance regulation for robots without interaction force measurements. According to Lyapunov’s theory, we proved that the proposed impedance learning controller guarantees the convergence of tracking errors and ensures the boundedness of the estimation errors of robotic uncertainties and impedance profiles. Simulations and experiments conducted on a parallel robot validated the effectiveness and the superiority of the proposed impedance learning controller in robot-assisted rehabilitation. The proposed hybrid adaptive control has potential applications in rehabilitation, exoskeletons, and some other repetitive interactive tasks.
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Kume, Yohei, Yasuhisa Hirata, and Kazuhiro Kosuge. "Object Handling by Coordinated Multiple Mobile Manipulators Without Force/Torque Sensors." Journal of Robotics and Mechatronics 20, no. 3 (2008): 394–402. http://dx.doi.org/10.20965/jrm.2008.p0394.
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The coordinated control algorithm for multiple mobile manipulators without force/torque sensors handling a single object in coordination controls individual mobile manipulators as if the grasping point has impedance dynamics by using the real manipulator’s dynamics. Mobile manipulators handle the object in coordination using the leader-follower control algorithm we propose, based on impedance dynamics. After discussing the effect of parameter error and how to reduce it, we confirm the proposed control algorithm’s feasibility in experiments using two mobile manipulators.
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Kizir, Selçuk, and Ali Elşavi. "Position-Based Fractional-Order Impedance Control of a 2 DOF Serial Manipulator." Robotica 39, no. 9 (2021): 1560–74. http://dx.doi.org/10.1017/s0263574720001356.
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SUMMARYImpedance 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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Liu, Haibo, Xu Li, Qile Bo, Meng Lian, Te Li, and Yongqing Wang. "Scanning control based on real-time contact force feedback for ultrasonic thickness measurement." Transactions of the Institute of Measurement and Control 43, no. 11 (2021): 2461–71. http://dx.doi.org/10.1177/0142331221990924.
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An effective contact force control strategy is of great significance for accurate and stable ultrasonic thickness on-machine measurement. However, it is difficult to adjust the contact force dynamically due to the uncertainty of the geometric characteristics of the measured workpiece. In this paper, a contact force control method based on the combination of adaptive impedance controller and sliding mode variable structure position controller is proposed. First, the control process with the force tracking impedance control and a normal contact force calculation model is established. Then, a force-position conversion model and a sliding mode variable structure controller are proposed. Further, a simulation with a typical S-shaped measured surface is given to show that the algorithm for controlling contact force can achieve good real-time tracking performance and has stronger robustness than traditional methods. Finally, an arc-shaped aluminum alloy thin-wall part thickness is sampled along the scan trajectory to verify the effectiveness of the algorithm. The experimental results show that the proposed algorithm for controlling contact force can quickly adjust the measuring device to the target position and maintain the stability of the normal contact force to ensure the accuracy of ultrasonic thickness on-machine measurement.
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Li, Xiao. "Study on Master-Slave Control Method Using Load Force and Impedance Identifiers for Tele-Operated Hydraulic Construction Robot." Applied Mechanics and Materials 29-32 (August 2010): 2170–75. http://dx.doi.org/10.4028/www.scientific.net/amm.29-32.2170.
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A master-slave control method based on the identifications of load force and impedance for Tele-operated hydraulic construction robot system is presented in this paper. The robot system is composed of a hydraulic excavator and two joysticks. The hydraulic excavator is served as the construction robot. The joysticks are used for operating the robot in a remote region. The master actuator and the slave actuator in this system are the joystick-gear of a joystick and the fork-glove actuator of the excavator respectively. The load force and impedance identifiers are used for identifying the load force and impedance of the slave actuator respectively. According to the load force, the master controller controls the master actuator to generate the reaction force for operator. On the basis of the load impedance and the master slave error, the slave controller controls the slave actuator to perform a working task. The experimental researches confirmed that the operator not only obtains the force sense of the object accurately, but also obtains the deformation and stiffness senses of the object obviously.
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Hu, Bingshan, Huanlong Chen, Liangliang Han, and Hongliu Yu. "Research and Ground Verification of the Force Compliance Control Method for Space Station Manipulator." International Journal of Aerospace Engineering 2020 (September 3, 2020): 1–17. http://dx.doi.org/10.1155/2020/8896610.
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The space station manipulator does lots of tasks with contact force/torque on orbit. To ensure the safety of the space station and the manipulator, the contact force/torque of manipulator must be controlled. Based on analyzing typical tasks’ working flows and force control requirements, such as ORU (orbit replacement unit) changeout and dual arm collaborative payload transport, an impedance control method based on wrist 6 axis force/torque feedback is designed. For engineering implementation of the impedance control algorithm, the discretization method and impedance control parameters selection principle are also studied. To verify the compliance control algorithm, a ground experiment platform adopting industrial manipulators is developed. In order to eliminate the influence of gravity, a real-time gravity compensation algorithm is proposed. Then, the correctness of real-time gravity compensation and force compliance control algorithm is verified on the experiment platform. Finally, the ORU replacement and dual arm collaborative payload transport experiments are done. Experimental results show that the force compliance control method proposed in this paper can control the contact force and torque at the end of the manipulator when executing typical tasks.
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Liu, Hong, Jun Wu, Shaowei Fan, Minghe Jin, and Chunguang Fan. "Integrated virtual impedance control based pose correction for a simultaneous three-fingered end-effector." Industrial Robot: An International Journal 45, no. 2 (2018): 255–66. http://dx.doi.org/10.1108/ir-09-2017-0173.
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Purpose This paper aims to present a pose correction method based on integrated virtual impedance control for avoiding collision and reducing impact. Design/methodology/approach The authors first constructed the artificial potential field (APF) considering the geometric characteristics of the end-effector. The characteristics of the proposed field were analyzed considering the position and orientation misalignment. Then, an integrated virtual impedance control was proposed by adding resultant virtual repulsive force into traditional impedance control. Finally, the authors modified a correction trajectory for avoiding collision and reducing impact with virtual force and contact force. Findings The APF the authors constructed can get rid of a local minimum. Comparing with linear correction, this method is able to avoid collision effectively. When the capturing target has intrinsic estimation error, the pose correction can ensure smooth transitions among different stages. Practical implications This method can be implemented on a manipulator with inner position control. It can be applied to an industrial robot with applications on robotic assembly for achieving a softer and smoother process. The method can also be expanded to the kind of claw-shaped end-effectors for capturing target. Originality value As the authors know, it is the first time that the characteristics of the end-effector are considered for avoiding collision in capturing application. The proposed integrated virtual impedance control can provide smooth transitions among different stages without switching different force/position controllers.
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Gong, Dawei, Yaru Song, Minglei Zhu, Yunlong Teng, Jinmao Jiang, and Shiliang Zhang. "Adaptive Variable-Damping Impedance Control for Unknown Interaction Environment." Mathematics 11, no. 24 (2023): 4961. http://dx.doi.org/10.3390/math11244961.
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Aiming at the force-tracking error phenomenon of impedance control in an unknown surface environment, an adaptive variable-damping impedance control algorithm is proposed, and the stability and convergence of the algorithm are deduced. An adaptive-law selection rule is proposed to aim at the phenomenon that the adaptive parameters are too large to cause the system oscillation and overshoot and too small to cause the adaptive line variation in the curved surface environment. Finally, experiments conclude that the impedance control based on the adaptive variable-damping algorithm has a better force-tracking effect than the ordinary impedance control in the curved surface environment where the contact surface between the end-effector of the manipulator and the atmosphere is unknown.
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Li, Zhan Ming, and Er Chao Li. "Adaptive Impedance Control for Robot Based on Estimation of Environmental Parameters." Advanced Materials Research 328-330 (September 2011): 1713–16. http://dx.doi.org/10.4028/www.scientific.net/amr.328-330.1713.
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In order to realize precise contact tasks with an unknown environment, robotic force controllers have to adapt themselves to the unknown environment. Some impedance controllers are designed for several representative environmental parameters, A BP neural network is proposed to determine the one-to-one mapping relations between the environmental parameters and the impedance parameters. However, it is difficult to accurately know the environmental parameters in the case of a changing environment, RLS is proposed to estimate environmental parameters, then determine the impedance coefficients to control the robot. Simulations prove that the controller designed is feasible and effective.