On the implementation and performance of impedance control on position controlled robots

Pelletier, M.; Doyon, Michel

doi:10.1109/robot.1994.351318

Cited by 40 publications

(21 citation statements)

References 9 publications

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“…It is not only difficult to obtain a good robot model and a reliable torque source, but also the resistance machine is equipped with position controllers, a practical implementations is to use force feedback to modify the position commands. 10,11 The framework for such implementation is shown in Fig. 7 (Here, M d , B d , and K d are the desired impedance parameters of mass, damping, and stiffness, respectively, K P , K I , and K V are the proportional, integral, and derivative gains of position servos, respectively, and u is the control input.…”

Section: Impedance Controlmentioning

confidence: 99%

Haptic-based resistance training machine and its application to biceps exercises

Park

Kim

Hong

2011

Int. J. Precis. Eng. Manuf.

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This paper introduces the design of a haptic-based resistance training machine and deals with the details of a control scheme for biceps exercises. The developed training machine has three components: 1) Machine hardware; 2) Impedance control based resistance generator; and 3) User interface. It can enable various resistance trainings considering the biomechanical behavior of individual user. That is, in contrast to conventional exercise machines, it can easily generate two-dimensional exercise motions and resistance profiles with respect to an individual's musculoskeletal characteristics. This feature can help users to easily execute an arbitrary exercise pattern that can maximize exercise performance. We choose the biceps exercise as its first application and implement an impedance control scheme for executing the newly suggested exercise protocol. Details of the experimental results are included for verification.

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Section: Impedance Controlmentioning

confidence: 99%

Haptic-based resistance training machine and its application to biceps exercises

Park

Kim

Hong

2011

Int. J. Precis. Eng. Manuf.

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“…The outer loop, which must perform inverse kinematics, typically runs much slower than the joint servo. However, experimental evidence indicates that the outer loop can run nearly 10 times slower than the inner loop with little sacrifice in performance [14], [15], and [16].…”

Section: Advanced Controller Designmentioning

confidence: 99%

“…Ray casting [3,4,5,6,11] is the most frequently used algorithm in direct volume rendering [2,3,4,5,6,II,14,15]. Ray casting generates rays from a viewpoint through each screen pixel into volume space.…”

Section: Introductionmentioning

confidence: 99%

Periscopic Spine Surgery

Cleary¹

2005

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Public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing this collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204, Arlington, VA 22202-4302, and to the Office of Management and Budget, Paperwork Reduction Project (0704-0188), Washington, DC 20503 AGENCY USE ONLY (Leave blank) REPORT DATE February 2000 REPORT TYPE AND DATES COVEREDAnnual (15 Jan 99 -14 Jan 00) TITLE AND SUBTITLE Periscopic Spine Surgery AUTHOR(S)Kevin Cleary, Ph.D. This project is aimed at improving the state of the art of image-guided and minimally invasive spine procedures by developing a new generation of clinical techniques along with the computer-based hardware and software needed for their implementation. The statement of work was modified in August 1999 to reflect a new focus on robotically assisted spine procedures, but the overall direction of the project remains the same. FUNDING NUMBERS DAMD17-99-1-9022 PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES)GeorgetownKey research accomplishments for the first year are:• Demonstrated the value of intraoperative CT for visualization and verification of the anatomy in complex spine surgeries in the neurosurgery operating room • Demonstrated the value of intraoperative CT for visualizing needle trajectories and bone cement placement in percutaneous vertebroplasty in interventional radiology • Demonstrated the feasibility of incorporating mobile CT for intraoprocedure use in the hospital environment, including radiation medicine and the intensive care unit • Developed an improved algorithm for three-dimensional visualization of isosurfaces and demonstrated this algorithm on percutaneous vertebroplasty data sets • Defined an architecture for an advanced interventional suite incorporating mobile CT, robotics, optical tracking, and a user interface for control • Developed an initial set of requirements for applying a robotic device to percutaneous spine needle placement Where copyrighted material is quoted, permission has been obtained to use such material. SUBJECT TERMSWhere material from documents designated for limited distribution is quoted, permission has been obtained to use the material.\LLs Citations of commercial organizations and trade names in this report do not constitute an official Department of Army endorsement or approval of the products or services of these organizations.N/A In conducting research using animals, the investigator(s) adhered to the "Guide for the Care and Use of Laboratory Animals," prepared by the Committee on Care and use of Laboratory Animals of the Institute of Laboratory Resources, national Research Council (NIH Publicati...

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“…Many different implementations of Cartesian impedance control exist in the literature (e.g., Hogan 1985; Kazerooni, Sheridan, and Houpt 1986;Pelletier and Doyon 1994), and the choice of the particular implementation is not crucial here. It is assumed that the behavior of the impedance-controlled manipulator follows:…”

Section: The Robot Manipulator Modelmentioning

confidence: 99%

Automatic Synthesis of Robot Compliant Motions in Dynamic Environments

Pelletier

Daneshmend

1997

The International Journal of Robotics Research

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This article presents a new approach to the problem of compliant-motion planning of manipulators in which the dynamics of the environment are taken into account. The scheme is based on decoupled linear impedance models of the robot and the environment, for which the errors due to control, taskframe estimation, and environment uncertainty are explicitly taken into account. The technique consists of characterizing the position, velocity, and force responses of the decoupled models, and expressing the task goals as constraints on these expressions. The impedance parameters of the controller are found by fitting uncertainty boxes inside the region of the parameter space that satisfies all task constraints. Two insertion examples, as well as an experimental verification of this method for the task of closing a circuit breaker, are presented.

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On the implementation and performance of impedance control on position controlled robots

Cited by 40 publications

References 9 publications

Haptic-based resistance training machine and its application to biceps exercises

Haptic-based resistance training machine and its application to biceps exercises

Periscopic Spine Surgery

Automatic Synthesis of Robot Compliant Motions in Dynamic Environments

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