Adaptive hybrid impedance control for dual-arm cooperative manipulation with object uncertainties

Jiao, Chunting; Yu, Lishuai; Su, Xiaojie; Wen, Yuzhen; Dai, Xin

doi:10.1016/j.automatica.2022.110232

Cited by 30 publications

(23 citation statements)

References 18 publications

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“…The experimental results show that the fluctuation range of contact force is 9.996 N ± 0.122 N, which proves that the proposed control strategy can adapt to the surface changes of complex surfaces and make the contact force stable to the desired contact force in time. Compared with some advanced control strategies (Jiao et al, 2022; Jung et al, 2001; Luo et al, 2019; Zhang et al, 2021), the force control accuracy has improved significantly. In addition, it can be concluded from the grinding effects that the proposed control strategy can obtain good grinding effect in the grinding process of a blisk, and meet the actual grinding effect requirements.…”

Section: Methodsmentioning

confidence: 99%

“…Bilal et al (2022) proposed an adaptive variable impedance control for force tracking in uncertain environmental stiffness along with redundancy exploitation. Jiao et al (2022) used an adaptive impedance control with variable stiffness to regulate the internal force. Xie et al (2019) used particle swarm optimization algorithm to optimize impedance parameters.…”

Section: Introductionmentioning

confidence: 99%

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Position‐based force tracking adaptive impedance control strategy for robot grinding complex surfaces system

Wang

Zhu

et al. 2023

Journal of Field Robotics

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As a key technology of robot grinding, force control has great influence on grinding effects. Based on the traditional impedance control, a position‐based force tracking adaptive impedance control strategy is proposed to improve the grinding quality of aeroengine complex curved parts, which considers the stiffness damping environmental interaction model, modifies the reference trajectory by a Lyapunov‐based approach to realize the adaptive grinding process. In addition, forgotten Kalman filter based on six‐dimensional force sensor is used to denoise the force information and a three‐step gravity compensation process including static base value calculation, dynamic zero update and contact force real‐time calculation is proposed to obtain the accurate contact force between tool and workpiece in this method. Then, to verify the effectiveness of the proposed method, a simulation experiment which including five different working conditions is conducted in MATLAB, and the experiment studying the deviation between the reference trajectory and the actual position is carried out on the robot grinding system. The results indicate that the position‐based force tracking adaptive impedance control strategy can quickly respond to the changes of environmental position, reduce the fluctuation range of contact force in time by modifying the reference trajectory, compensate for the defect of the steady‐state error of the traditional impedance control strategy and improve the surface consistency of machined parts.

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Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Position‐based force tracking adaptive impedance control strategy for robot grinding complex surfaces system

Wang

Zhu

et al. 2023

Journal of Field Robotics

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“…We take the larger of the inferred values α 1 and α 2 as the output of fuzzy controller 1, represented by Equation (23).…”

Section: Design Of the Variable Universe Fuzzy Controllermentioning

confidence: 99%

“…The combination of an adaptive Kalman filter with variable time intervals and a calibration method, proposed in reference [18], helps in estimating force and torque in the absence of force/torque sensors. It has been proven that with unknown environmental information, variable impedance control is more effective than constant impedance control [19][20][21][22][23] because constant impedance control is difficult to achieve for tasks in complex environments, and it is challenging to accurately measure impedance information. For example, challenges arise in accurately acquiring the reference trajectory of the end effector, as well as in determining the position and stiffness of the environment in practical scenarios.…”

Section: Introductionmentioning

confidence: 99%

Impedance Force Control of Manipulator Based on Variable Universe Fuzzy Control

Kong

Huang

2023

Actuators

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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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“…These factors can result in significant positional changes of the robotic arm's end-effector, leading to tissue tears and increasing the surgical risks [2]. In a dual-arm collaborative surgical robot system, coordination between the positions of the arms is essential, as well as the coordination of contact forces between the objects and the robotic arms [3][4].…”

Section: Introductionmentioning

confidence: 99%

Indirect adaptive admittance control based on position synchronization of robot-assisted nasopharyngeal surgery

Hu,

Liu,

Song

2024

Second International Conference on Electrical, Electronics, and Information Engineering (EEIE 2023)

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In the surgery of nasopharyngeal cancer, the surgeon operates through natural channels within small room. In its robotassisted surgery, collisions between two manipulators and parameter variation of local tissue may lead to contact force change, It may cause target position offset. As the vessels and nerves were distributed densely in head and neck. The control system needs to ensure the operating contact force is within the safety threshold. It can avoid soft tissue tearing caused by changing of relative position over the limits. The research studies indirect adaptive admittance control based on position synchronization, which adjust the damping compensation rate. It improves the force control precision and system robustness of robot-assisted surgery through alleviating the effect of stiffness variation and collisions. And it can improve surgery security.

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Adaptive hybrid impedance control for dual-arm cooperative manipulation with object uncertainties

Cited by 30 publications

References 18 publications

Position‐based force tracking adaptive impedance control strategy for robot grinding complex surfaces system

Position‐based force tracking adaptive impedance control strategy for robot grinding complex surfaces system

Impedance Force Control of Manipulator Based on Variable Universe Fuzzy Control

Indirect adaptive admittance control based on position synchronization of robot-assisted nasopharyngeal surgery

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