Impedance control of robot manipulator with model reference torque observer

Dong, Xu; Zhang, Shaoguang; Li, Xuerong; Liu, Min; Wei, Hongxing

doi:10.1109/iciea.2013.6566512

Cited by 4 publications

(3 citation statements)

References 12 publications

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“…Joint torque sensor, which is more convenient to install and has less effect on the rigidity of system, is a direct way to obtain joint torque; however, the measurement accuracy cannot be ensured when there is a large reduction ratio in the joint reducer. 15 Another way is to measure the current of the joint driving motor; 16 the signal is always obtained through the motor control current loop detection or a potentiometer for real-time measurement, whose difficulty lies in how to improve the accuracy. A calculational method is proposed which estimate the control error of the lower joint control loop with minimal variance to obtain the estimation of external forces.…”

Section: Introductionmentioning

confidence: 99%

A globally exponentially stable observer for torque estimation with only position measurement

Liu,

Yue,

Wen

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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A novel estimation scheme for joint torque information is constructed by observer design method in the case that force/torque/velocity/acceleration sensors of manipulator are not available. Based on generalized dynamic scaling function and scalar filtering, the globally exponentially stable observer for torque estimation with only position measurement is presented in this article. The main contribution lies in the development of the classic Nicosia observer with performance improvements and significant order reduction compared to the existing results. Comparative simulations demonstrate the effectiveness and superiority of the proposed scheme.

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Section: Introductionmentioning

confidence: 99%

A globally exponentially stable observer for torque estimation with only position measurement

Liu,

Yue,

Wen

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…Visual information and force sensor information are complementary, often used in the actual work. From improve the robot's adaptability to the environment and rapid response capability perspective, in recent years, many researchers have explored the machine vision as a feedback control source for servo control to form visual servo feedback control system [4,5] .…”

Section: Introductionmentioning

confidence: 99%

Robotic Adaptive Impedance Control Based On Visual Guidance

2015

International Journal on Smart Sensing and Intelligent Systems

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Abstract-Uncalibrated visual servoing based on SVR-Jacobian estimator is proposed in unknown environment. Multiple support vector regression (SVR) machines are used to estimate the Jacobian matrix of images，and the nonlinear mapping between the image features of the curved line and the robot joint angle is constructed, uncalibrated robot impedance control can be carried out．Image Jacobian matrix expression with Gaussian kernel is put forward, the effectiveness of the presented approach is verified by using a 6 DOF robot with a CCD camera and a force/torque sensor installed in its end effector.

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“…Impedance control determines the dynamic relationship between the robot and its environment [2][3][4][5][6][7]. It is based on the robot dynamics, however, its control performance is deteriorated by the uncertainties and disturbances.…”

Section: ⅰ Introductionmentioning

confidence: 99%

Robust Impedance Control of High-DOF Robot Based on ISMC and DOB

Asignacion¹,

Park²,

Kim³

2017

Journal of the Korea Institute of Information and Communication

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This paper proposes a robust impedance controller for high-DOF robots. The model-based control of a higher DOF robot uses a numerical dynamic model because the analytical dynamic model is difficult to be derived and this means that modeling error is inevitable. The impedance control in the task space is affected by joint motions and has more difficulties in the higher DOF robots. In addition, the disturbances must be decoupled in the control of high DOF robot. This paper proposes a robust impedance controller based on integral sliding mode control (ISMC) and disturbance observer(DOB) for high-DOF robot manipulator. The ISMC is used to improve the robustness of the impedance control and to preserve its nominal performance. DOB is also employed to cancel the effects of input disturbances and to reduce the maximum gain of the ISMC which eventually determines the input chattering size.키워드 : 임피던스제어, 강인제어, 적분슬라이딩모드, 외란관측기, 고자유도 로봇

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Impedance control of robot manipulator with model reference torque observer

Cited by 4 publications

References 12 publications

A globally exponentially stable observer for torque estimation with only position measurement

A globally exponentially stable observer for torque estimation with only position measurement

Robotic Adaptive Impedance Control Based On Visual Guidance

Robust Impedance Control of High-DOF Robot Based on ISMC and DOB

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