Fractal impedance for passive controllers: a framework for interaction robotics

Babarahmati, Keyhan Kouhkiloui; Tiseo, Carlo; Smith, Joshua; Chin, Lin, Hsiu; Erden, Mustafa Suphi; Mistry, Michael

doi:10.1007/s11071-022-07754-3

Cited by 9 publications

(3 citation statements)

References 49 publications

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“…The plan was to investigate strategies to resolve this apparent contradiction, for example, by providing the robots with flexible tooling which they can reconfigure and use to leverage their strengths without having to exert potentially injury-inducing forces. This work is in progress and will be pursued as part of Phase 2 of AutoReman with a new line of enquiry building upon the variable stiffness control system research of Babarahmati et al (2021).…”

Section: Work Stream 3: Disassembly Planningmentioning

confidence: 99%

Digitizing Production Systems

2022

Lecture Notes in Mechanical Engineering

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translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, expressed or implied, with respect to the material contained herein or for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

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Section: Work Stream 3: Disassembly Planningmentioning

confidence: 99%

Digitizing Production Systems

2022

Lecture Notes in Mechanical Engineering

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“…[16] and the stiffness and damping parameters are updated using adaptive laws. Other solutions for similar problem have also been investigated using fractal attractors [17] and perturbation methods [18]. The common aspect among the above investigations is to develop a unified control approach for various operational conditions based on adjustment of the control gains.…”

Section: Introductionmentioning

confidence: 99%

A dual robust control architecture with variable stiffness and damping parameters for switching task dominance in collaborative haptic systems

Motaharifar

Sharifi

Sadeghi

et al. 2023

IET Control Theory & Appl

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In collaborative haptic training systems, a novice operator is interfaced with an expert operator and cooperatively performs some task on a real/virtual environment. Most control architectures for collaborative haptic training systems do not consider the switching task dominance together with investigating overall stability in the presence of nonlinear dynamics and uncertainty. In this paper, a theoretical framework is presented for switching task dominance in collaborative haptic training systems based on supervision and intervention of the expert operator. To that effect, the novice operator performs the operation with as little as possible interference haptic signals in the normal operational conditions. On the other hand, the expert operator is able to intervene the operation to guide the novice operator when it is necessary. The most challenging part of controller design for such systems is to provide the mentioned supervisory framework in a way that the stability of interaction between the operators and the system is ensured with acceptable task performance in various operational conditions. This work offers a variable‐gain dual robust control scheme to address the above problem. The key idea is that the tracking gain of each controller is adjusted in real‐time to switch the task authorities. It is verified that the input‐to‐state stability property is satisfied for each subsystem. Then, the overall stability is proved by leveraging the small gain theorem. Finally, the functionality and performance of the suggested control architecture is demonstrated through simulation and experimental studies.

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“…Industrial robots have been widely applied to assembling, testing, polishing, welding, and other operations, which require direct interaction between the manipulator and the environment. The control of the interaction force of the manipulator is crucial in the process of performing tasks [1][2][3]. The application scenarios of robots are not limited to rigid environments, such as picking robots, cleaning robots, folding robots, and so on.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy-based variable impedance control of uncertain robot manipulator in the flexible environment: A nonlinear force contact model-based approach

Guo,

Peng,

Ding

et al. 2023

IFS

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In this paper, a variable impedance control method is proposed for uncertain robotic systems based on a nonlinear force contact-based flexible environmental model. First, a nonlinear force contact model between the rigid manipulator and flexible environment is applied to the compliant control of the manipulator, which can avoid excessive force overshoot that usually exists in the traditional spring-damping environmental model. Then, to achieve better force/position tracking performances, a fuzzy-based adaptive variable impedance controller is designed based on the force contact-based flexible environmental model, where the impedance parameters are adjusted online through the force and position feedback of the robotic system, and the fuzzy logic system is used to compensate the uncertainties. Moreover, the stability of the adaptive variable impedance control scheme is proved by the Routh stability criterion, and the boundness of all the signals in the closed-loop control system is guaranteed by the Lyapunov stability theorem. Finally, the effectiveness of the proposed method is verified by the simulation of a two-link manipulator, and the results demonstrate that the performances of position tracking are improved, while the force overshoot and oscillation time are reduced.

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Fractal impedance for passive controllers: a framework for interaction robotics

Cited by 9 publications

References 49 publications

Digitizing Production Systems

Digitizing Production Systems

A dual robust control architecture with variable stiffness and damping parameters for switching task dominance in collaborative haptic systems

Fuzzy-based variable impedance control of uncertain robot manipulator in the flexible environment: A nonlinear force contact model-based approach

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