Adaptive Hybrid Impedance Control for A Dual-arm Robot Manipulating An Unknown Object

Jiao, Chunting; Xiong, Wei; Zhao, Han Wang; Su, Xiaojie

doi:10.1109/iecon43393.2020.9254995

Cited by 6 publications

(1 citation statement)

References 14 publications

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“…Force/position hybrid control may experience abrupt transitions in force and position control when the operational state changes. Admittance control effectively avoids abrupt changes in force or position control by continuously adjusting stiffness coefficients [7][8].…”

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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Section: Introductionmentioning

confidence: 99%