Impedance control of a direct-drive manipulator without using force sensors

Tachi, Susumu; Sakaki, Taisuke; Arai, Hirohiko; Nishizawa, Seiya; Pelaez-Polo, Jose Felipe

doi:10.1163/156855391x00151

Cited by 33 publications

(12 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The keys of our approach are: (i) we restrict situations to those in which a robot interacts with its user and (ii) the robot expands its sensing ability by receiving the user's biological signals, such as surface EMG and postural information, in real-time. Methods of estimating the force applied to the manipulator from the human or environment without using the force/torque sensor have been proposed [13,14]. However, these methods require the accurate dynamics model of the robot.…”

Section: Virtual Realization Of Force/tactile Sensingmentioning

confidence: 99%

Virtual Force/Tactile Sensors for Interactive Machines Using the User's Biological Signals

2008

View full text Add to dashboard Cite

This study proposes a new approach to virtual realization of force/tactile sensors in machines equipped with no real sensors. The key of our approach is that a machine exploits the user's biological signals. Therefore, this approach is not dependent on controlled objects and is expected to be widely applicable for a variety of machines including robots. This article describes an example robotic system comprised of an industrial robot manipulator, a motion capture system and a surface electromyogram (EMG) measurement apparatus. By monitoring/recording the user's surface EMG and postural information in real-time, we show that a robot equipped with no force/tactile sensors behaved similarly to one possessing sensors over its body. Another advantage of our approach is demonstrated by a task in which a robot and a user cooperatively hold and move a heavy load.

show abstract

Section: Virtual Realization Of Force/tactile Sensingmentioning

confidence: 99%

Virtual Force/Tactile Sensors for Interactive Machines Using the User's Biological Signals

2008

View full text Add to dashboard Cite

show abstract

“…In order to realize it, we consider that the dynamics of the manipulator expressed by eq. (2) is realized by using the real dynamics of the manipulator instead of force/torque sensors [12]. Also, we assume that the dynamics of the mobile base expressed by eq.…”

Section: A Force/torque Sensorless Control Of Manipulatormentioning

confidence: 99%

Coordinated motion control of multiple mobile manipulators handling a single object without using force/torque sensors

Kume¹,

Hirata²,

Kosuge³

2007

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

In this paper, we propose a coordinated motion control algorithm of multiple mobile manipulators handling a single object without using force/torque sensors. In this control algorithm, each mobile manipulator is controlled as if its grasping point has an impedance dynamics by using the real dynamics of the manipulator instead of force/torque sensors. These mobile manipulators handle a single object in coordination using the leader-follower type control algorithm based on the impedance dynamics. Then, the effect of parameter identification errors is discussed and a method to reduce it is proposed. The proposed control algorithm is experimentally applied to two mobile manipulators, and the experimental results illustrate the validity of the proposed control algorithm.

show abstract

“…Although the control law (3)-(5) or other impedance control methods such as [1], [3] can be applied to control redundant manipulators, they cannot effectively utilize arm redundancy. In order to exploit the arm redundancy, an additional controller for a subtask needs to be incorporated into the end-effector impedance control system in parallel [16], [17] (6) (7) where is the additional joint control torque for controlling the joint impedance; are the desired joint inertia, viscosity and stiffness, respectively; and is the deviation vector between the joint angle and the equilibrium joint angle .…”

Section: Impedance Controlmentioning

confidence: 99%

“…Hogan [1] invented a method to control the end-effector impedance of a manipulator based on the measured position, velocity and force of the end-effector. Since then, many studies have been conducted, including realization techniques [2], [3] and stability analysis for contact motion [4]. The impedance control is one of the most important frameworks to control the interaction between the manipulators and the environment.…”

mentioning

confidence: 99%

Noncontact impedance control for redundant manipulators

Tsuji

Kaneko

1999

IEEE Trans. Syst., Man, Cybern. A

View full text Add to dashboard Cite

Abstract-This paper proposes an impedance control method that can regulate a virtual impedance between a robot manipulator and external objects using visual information. The conventional impedance control method is not useful in some cases where no interaction force between the arm and its environment exists, although it is one of the most effective control methods for manipulators in contact with the environment. Using the proposed method, we can control the manipulator motion based on the virtual impedance before contact with the objects. The validity of the proposed method is verified through computer simulations and experiments using a direct-drive robot.

show abstract

Impedance control of a direct-drive manipulator without using force sensors

Cited by 33 publications

References 8 publications

Virtual Force/Tactile Sensors for Interactive Machines Using the User's Biological Signals

Virtual Force/Tactile Sensors for Interactive Machines Using the User's Biological Signals

Coordinated motion control of multiple mobile manipulators handling a single object without using force/torque sensors

Noncontact impedance control for redundant manipulators

Contact Info

Product

Resources

About