Robust impedance control

Hace, A.; Jezernik, K.; Uran, Suzana

doi:10.1109/cca.1998.728539

Cited by 13 publications

(13 citation statements)

References 14 publications

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“…Accordingly, in this paper the proposed controllers have been designed in task space and also in view of the fact that the joint space model is employed for designing these controllers instead of the task space model. From (11), one can result that the control signal computations are reduced significantly. Note that according to (14), the environment reaction force will be zero when the manipulator is not involved the surface and the position/force control is hence reduced to just position control.…”

Section: Discussionmentioning

confidence: 96%

“…Eliminating known dynamics is one of the preferred approaches which utilized for designing controllers. But according to equation (11), it can be found that using task space model leads to tremendous computation amount. So, implementing these kinds of controllers needs high speed processors.…”

Section: Desired Impedance Of Robot Manipulatormentioning

confidence: 99%

“…In most investigations, the task space model is employed to impedance control plan [11][12][13] which is achieved from (1), (7), (9) and (10) as:…”

Section: Robot Dynamics In Task Spacementioning

confidence: 99%

“…By noting to the result of these studies it can be seen that adaptive control has effective performance against parametric uncertainties but these are only parts of all uncertainties in a real system. Another method which is proposed to deal with structured and unstructured uncertainties in impedance control of robot manipulator is sliding mode control [11]. The control law is designed such that the position is controlled when the robot is in free space and the force is controlled when the robot involves.…”

Section: Introductionmentioning

confidence: 99%

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Design and Stability Analysis of a Robust Impedance Control System for a Robot Manipulator

Soltanpour¹,

Shafiei²,

Sattari³

2010

SIC

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This paper presents a novel impedance control approach for a robot manipulator and analyzes its stability. In order to achieve desired impedance for the robot manipulator subject to applied force on the end-effector, a hybrid position/force control in the task space is developed. For this purpose, the both cases of known and unknown bounds of uncertainties are considered to design the nonlinear robust controller. It is proven that the closed loop control system shows global exponential stability under known bounds of uncertainties. In the second case, an adaptive controller is used to estimate the bounds of uncertainties. It is then proven that the closed loop system has a global asymptotically stability. The case study is a two-link elbow manipulator which is simulated. The simulation results confirm good performances of proposed control approaches.

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Section: Discussionmentioning

confidence: 96%

Section: Desired Impedance Of Robot Manipulatormentioning

confidence: 99%

“…In most investigations, the task space model is employed to impedance control plan [11][12][13] which is achieved from (1), (7), (9) and (10) as:…”

Section: Robot Dynamics In Task Spacementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Design and Stability Analysis of a Robust Impedance Control System for a Robot Manipulator

Soltanpour¹,

Shafiei²,

Sattari³

2010

SIC

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show abstract

“…The controller resembles a conventional PD controller and introduced a desirable compliance to the system. A number of impedance controller designs have addressed issues such as robustness [30,62], adding adaptive control techniques [100,124], extension with learning approach [24], dynamics of flexible robot [4,94], dexterous manipulation [14,3,32].…”

Section: Controller Designmentioning

confidence: 99%

Human-friendly robotic manipulators: safety and performance issues in controller design

Tadele¹

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Interaction control of robotic manipulators via second‐order sliding modes

Ferrara

Lombardi

2007

Adaptive Control & Signal

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This paper deals with the interaction control of robot manipulators. The ideal goal is to control the manipulator so that its end-effector reaches a desired position in the operative space. The attainment of this goal can be prevented by the fact that during its motion the end-effector can interact with the environment. So, a realistic goal is regarded as control objective in the paper, that of asymptotically reaching an equilibrium position jointly determined by the choice of the ideal desired position, and by the presence of the environment. The model of the manipulator is supposed to be affected by uncertainties, so that a classical impedance control scheme cannot be adopted. The approach proposed in this paper relies on the theory of sliding mode control. In general, this methodology is deemed nonappropriate to control mechanical systems like robot manipulators, since it introduces the so-called chattering phenomenon, which produces undesired wear and vibrations. Yet, the final control solution proposed in this paper is based on the generation of sliding modes of the second order, which practically reduces the degradation of performances, and the mechanical stress due to the chattering effect. Indeed, the proposed second-order sliding mode control scheme relies on the use of a continuous control law, in contrast to conventional sliding mode control schemes.

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Robust impedance control

Cited by 13 publications

References 14 publications

Design and Stability Analysis of a Robust Impedance Control System for a Robot Manipulator

Design and Stability Analysis of a Robust Impedance Control System for a Robot Manipulator

Human-friendly robotic manipulators: safety and performance issues in controller design

Interaction control of robotic manipulators via second‐order sliding modes

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