Force tracking impedance control with moving target

Liu, Houde; Lü, Wei; Zhu, Xiaojun; Wang, Xueqian; Liang, Bin

doi:10.1109/robio.2017.8324608

Cited by 7 publications

(2 citation statements)

References 8 publications

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“…Similarly, the projection algorithm in [ 24 ] and backtracking method in [ 25 ] of adaptive robust control plays a crucial role in precise loading, but the high computational cost is still a non-negligible issue. Liu presented a position-based force control scheme for tracking a moving target [ 26 ], but it does not apply to variable force tracking. In [ 27 ], Xu et al proposed a strategy for adjusting the admittance controller parameters adaptively to solve the issue of unstable robot force control, which may be a feasible method for torque loading stability.…”

Section: Introductionmentioning

confidence: 99%

Research on Position and Torque Loading System with Velocity-Sensitive and Adaptive Robust Control

Chen

Zhang

2022

Sensors

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In this paper, the research emphasis focuses on the tracking precision of position loading and torque loading systems with velocity-sensitive and adaptive robust control. Compared with conventional PID control, the improved PID control based on velocity-sensitive fully manifests its superiority to position loading. By contrast, we analyzed the possible influence for the control difference of conventional PID and velocity-sensitive with PID. Furthermore, for the purpose of accurate torque loading, a mathematical model was established through dynamics analysis and the adaptive robust controller, where the adaptive robust control algorithm is designed to generate the reference position trajectory for the servo system in the upper controller while closed-loop position tracking is performed in the underlying controller, was built based on a state space equation. In the end, an experimental platform was built to verify the feasibility and advantages of the position and torque loading system with the velocity-sensitive and adaptive robust control.

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Section: Introductionmentioning

confidence: 99%

Research on Position and Torque Loading System with Velocity-Sensitive and Adaptive Robust Control

Chen

Zhang

2022

Sensors

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“…The update rate in the adaptive item has a great impact on the control performance. Researchers use neural network, fuzzy control, and other theories to obtain an appropriate update rate to improve the performance of adaptive impedance control [11][12][13][14]. By adding discrete compensation items, constant force control can be realized and control responsiveness can be improved.…”

Section: Introductionmentioning

confidence: 99%

A Light Space Manipulator with High Load-to-Weight Ratio: System Development and Compliance Control

Chen

2021

Space Sci Technol

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In order to meet the requirements of the space environment for the lightweight and load capacity of the manipulator, this paper designs a lightweight space manipulator with a weight of 9.23 kg and a load of 2 kg. It adopts the EtherCAT communication protocol and has the characteristics of high load-to-weight ratio. In order to achieve constant force tracking under the condition of unknown environmental parameters, an integral adaptive admittance control method is proposed. The control law is expressed as a third-order linear system equation, the operating environment is equivalent to a spring model, and the control error transfer function is derived. The control performance under the step response is further analyzed. The simulation results show that the proposed integral adaptive admittance control method has better performance than the traditional method. It has no steady-state error, overcomes the problems caused by nonlinear discrete compensation, and can facilitate analysis in the frequency domain, realize parameter optimization, and improve calculation accuracy.

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Variable Impedance Force Tracking with a Collaborative Joint Based on Second-Order Momentum Observer Under Uncertain Environment

Wang

Guan

Zhu

et al. 2021

Intelligent Robotics and Applications

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Force tracking impedance control with moving target

Cited by 7 publications

References 8 publications

Research on Position and Torque Loading System with Velocity-Sensitive and Adaptive Robust Control

Research on Position and Torque Loading System with Velocity-Sensitive and Adaptive Robust Control

A Light Space Manipulator with High Load-to-Weight Ratio: System Development and Compliance Control

Variable Impedance Force Tracking with a Collaborative Joint Based on Second-Order Momentum Observer Under Uncertain Environment

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