Adaptive Interaction Controller for Compliant Robot Base Applications

Roveda, Loris

doi:10.1109/access.2018.2889849

Cited by 26 publications

(18 citation statements)

References 32 publications

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“…To provide haptic feedback, the end-effector force should be calculated. The force at the end-effector is determined by using an impedance model representing the environment dynamics [65,66] given by…”

Section: Haptic Feedbackmentioning

confidence: 99%

DPSO and Inverse Jacobian-Based Real-Time Inverse Kinematics With Trajectory Tracking Using Integral SMC for Teleoperation

2020

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A six-degree-of-freedom robotic manipulator inverse kinematics (IK) for position control is proposed for the bilateral teleoperation process that is implemented through a joystick for nuclear power plant dismantling operations. The control strategy of the manipulator includes the use of the joystick to generate the Cartesian space trajectory followed by the IK to yield the joint space trajectory for implementing position control. In this paper, a novel technique for the IK is proposed. It involves the use of the particle swarm optimization (PSO) algorithm with the inverse Jacobian (IJ). The special case of the dual PSO is based on dividing the PSO algorithm into two such that the trajectory position and orientation are separately optimized by the algorithms, resulting in a faster convergence. In contrast, the inverse Jacobian aids in generating a smooth joint trajectory. The integral sliding mode control (ISMC) is proposed for position control because it does not require information on system dynamics. The ISMC improves the system trajectory tracking performance by using a switching gain to compensate for system dynamics and perturbations (disturbance and unmatched uncertainties), ultimately reducing the time delay. The effectiveness of the PSO combined with the IJ and the robustness of the ISMC in the teleoperation process are confirmed by the experimental results. INDEX TERMS Teleoperation, inverse kinematics, robotic manipulator, PSO, inverse Jacobian, ISMC

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Section: Haptic Feedbackmentioning

confidence: 99%

DPSO and Inverse Jacobian-Based Real-Time Inverse Kinematics With Trajectory Tracking Using Integral SMC for Teleoperation

2020

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“…This adds elasticity to the robot base which affects the dynamics of the interaction between the robot and the environment. Reference [22] proposed an interaction controller that is able to adapt its parameters online to compensate for robot base elasticity.…”

Section: Existing Impedance Control Systemsmentioning

confidence: 99%

High-Bandwidth Active Impedance Control of the Proprioceptive Actuator Design in Dynamic Compliant Robotics

2019

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Dynamic compliant robotics is a fast growing field because of its ability to widen the scope of robotics. The reason for this is that compliant mechanisms may ensure safe/compliant interactions between a robot and an external element-for instance, a human operator. Active impedance control may widen the scope even further in relation to passive elements, but it requires high-bandwidth robust torque and active impedance control which induces high-noise issues even if high-end sensors are used. To address these issues, a complete controller design scheme, including Field-Oriented Control (FOC) of a Brushless Direct Current (BLDC) motor, is proposed. In this paper, controller designs for controlling the virtual impedance, motor torque and field are proposed which enables high-bandwidth robust control. Additionally, a novel speed and angle observer is proposed that aims to reduce noise arising in the angle sensor (typically a 12-bit magnetic encoder) and a Kalman/Luenberger based torque observer is proposed that aims to reduce noise arising in the phase current sensors. Through experimental tests, the combination of the controller designs and observers facilitated a closed-loop torque bandwidth of 2.6 kHz and a noise reduction of 13.5 dB (in relation to no observers), at a sample rate and Pulse Width Modulation (PWM) frequency of 25 kHz. Additionally, experiments verified a precise and high performing controller scheme both during impacts and at a variety of different virtual compliance characteristics.

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“…The peg-hole assembly was completed through a vision system estimation [27]. The interaction force was obtained by force sensors to guide the robot to complete the assembly [28,29]. Most of the assembly strategies are based on the idea of modeling.…”

Section: Introductionmentioning

confidence: 99%

A Robotic Automatic Assembly System Based on Vision

Song

et al. 2020

Applied Sciences

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At present, the production lines of mobile phones are mainly manual and semi-automatic. Robots are the most important tools used to improve the intelligence level of industry production. The design of an intelligent robotic assembly system is presented in this paper, which takes the assembly of screen components and shell components as examples. There are major factors restricting the application of robots, such as the calibration of diversified objects, the moving workpiece with incomplete information, and diverse assembly types. A method was proposed to solve these technological difficulties. The multi-module calibration method is used to transform the pose relationship between the robot, the conveyor belt, and the two cameras in the robot assembly system. Aiming at a workpiece moving with incomplete information, the minimum matrix method is proposed to detect the position. Then dynamic fetching is realized based on pose estimation of the moving workpiece. At last, the template matching method is used to identify the assembly area of the workpiece type. The proposed method was verified on a real platform with a LINKHOU LR4-R5 60 robot. Results showed that the assembly success rate was above 98%, and the intelligent assembly system of the robot can realize the assembly of mobile phone screens and back shells without any staff.

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Adaptive Interaction Controller for Compliant Robot Base Applications

Cited by 26 publications

References 32 publications

DPSO and Inverse Jacobian-Based Real-Time Inverse Kinematics With Trajectory Tracking Using Integral SMC for Teleoperation

DPSO and Inverse Jacobian-Based Real-Time Inverse Kinematics With Trajectory Tracking Using Integral SMC for Teleoperation

High-Bandwidth Active Impedance Control of the Proprioceptive Actuator Design in Dynamic Compliant Robotics

A Robotic Automatic Assembly System Based on Vision

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