Admittance Force Tracking Control for Position-Controlled Robot Manipulators Under Unknown Environment

Jung, Seul

doi:10.23919/iccas50221.2020.9268417

Cited by 9 publications

(2 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It is widely used to coordinate the corresponding relationship between force and position. Impedance force control can be used to track the force by adjusting the relationship between force and position (Sun, 2021; Jung, 2020);…”

Section: Position-based Impedance Controlmentioning

confidence: 99%

Impedance control for force tracking of a dual-arm cooperative robot based on particle swarm optimization

Li,

Huang,

Pan

et al. 2024

View full text Add to dashboard Cite

Purpose The purpose of this paper aims to investigate the adaptive impedance control and its optimized PSO algorithm for force tracking of a dual-arm cooperative robot. Because the dual-arm robot is directly in contact with external environment, controlling the mutual force between robot and external environment is of great importance. Besides, a high compliance of the robot should be guaranteed. Design/methodology/approach An impedance control based on Particle Swarm Optimization (PSO) algorithm is designed to track the mutual force and achieve compliance control of the robot end. Findings The experimental results show that the impedance control coefficients can be automatically tuned converged by PSO algorithm. Originality/value The system can reach a steady state within 0.03 s with overshoot convergence, and the force fluctuation range at the steady state decreases to about ±0.08 N even under the force mutation condition.

show abstract

Section: Position-based Impedance Controlmentioning

confidence: 99%

Impedance control for force tracking of a dual-arm cooperative robot based on particle swarm optimization

Li,

Huang,

Pan

et al. 2024

View full text Add to dashboard Cite

show abstract

“…With these mathematical models, they can estimate the output force of each joint and end-effector of the robot. However, the polishing system is a complex and coupled system [ 44 ]. This kind of ideal simplified mathematical model makes it challenging to match the actual circumstances during the polishing process.…”

Section: Introductionmentioning

confidence: 99%

Active Compliance Smart Control Strategy of Hybrid Mechanism for Bonnet Polishing

Li,

Cheung,

Lam

et al. 2024

Sensors

View full text Add to dashboard Cite

Compliance control strategies have been utilised for the ultraprecision polishing process for many years. Most researchers execute active compliance control strategies by employing impedance control law on a robot development platform. However, these methods are limited by the load capacity, positioning accuracy, and repeatability of polishing mechanisms. Moreover, a sophisticated actuator mounted at the end of the end-effector of robots is difficult to maintain in the polishing scenario. In contrast, a hybrid mechanism for polishing that possesses the advantages of serial and parallel mechanisms can mitigate the above problems, especially when an active compliance control strategy is employed. In this research, a high-frequency-impedance robust force control strategy is proposed. It outputs a position adjustment value directly according to a contact pressure adjustment value. An open architecture control system with customised software is developed to respond to external interrupts during the polishing procedure, implementing the active compliance control strategy on a hybrid mechanism. Through this method, the hybrid mechanism can adapt to the external environment with a given contact pressure automatically instead of relying on estimating the environment stiffness. Experimental results show that the proposed strategy adapts the unknown freeform surface without overshooting and improves the surface quality. The average surface roughness value decreases from 0.057 um to 0.027 um.

show abstract

Controlling Robotic Contact Force on Curved and Complex Surfaces Based on an Online Identification Admittance Controller

2023

View full text Add to dashboard Cite

Admittance Force Tracking Control for Position-Controlled Robot Manipulators Under Unknown Environment

Cited by 9 publications

References 11 publications

Impedance control for force tracking of a dual-arm cooperative robot based on particle swarm optimization

Impedance control for force tracking of a dual-arm cooperative robot based on particle swarm optimization

Active Compliance Smart Control Strategy of Hybrid Mechanism for Bonnet Polishing

Controlling Robotic Contact Force on Curved and Complex Surfaces Based on an Online Identification Admittance Controller

Contact Info

Product

Resources

About