Sensorless full body active compliance in a 6 DOF parallel manipulator

Dutta, Anirvan; Salunkhe, Durgesh Haribhau; Kumar, Shivesh; Udai, Arun Dayal; Shah, Suril V.

doi:10.1016/j.rcim.2019.04.010

Cited by 19 publications

(8 citation statements)

References 25 publications

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“…The active impedance control explicitly employs the dynamic model of the exoskeleton mechanism to control the joint position, force, torque, impedance, and compensate for disturbances like steady-state offset. For robots where torque sensing is not available, it is also possible to achieve compliance using the method proposed in [133].…”

Section: Model-based Controlmentioning

confidence: 99%

A Survey on Design and Control of Lower Extremity Exoskeletons for Bipedal Walking

2022

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Exoskeleton robots are electrically, pneumatically, or hydraulically actuated devices that externally support the bones and cartilage of the human body while trying to mimic the human movement capabilities and augment muscle power. The lower extremity exoskeleton device may support specific human joints such as hip, knee, and ankle, or provide support to carry and balance the weight of the full upper body. Their assistive functionality for physically-abled and disabled humans is demanded in medical, industrial, military, safety applications, and other related fields. The vision of humans walking with an exoskeleton without external support is the prospect of the robotics and artificial intelligence working groups. This paper presents a survey on the design and control of lower extremity exoskeletons for bipedal walking. First, a historical view on the development of walking exoskeletons is presented and various lower body exoskeleton designs are categorized in different application areas. Then, these designs are studied from design, modeling, and control viewpoints. Finally, a discussion on future research directions is provided.

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Section: Model-based Controlmentioning

confidence: 99%

A Survey on Design and Control of Lower Extremity Exoskeletons for Bipedal Walking

2022

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“…Step 1: use formula (7) to establish an accurate dynamic model of variable stiffness joints Step 2: use formula ( 8) to obtain the length changes, caused by the posture change of the joint operating arm Step 3: use formula ( 9) to obtain the equivalent motion state equation of the system Step 4: use formula ( 10) to obtain the dynamic equation of the system Step 5: use formula ( 12) to obtain a new nonlinear equation system…”

Section: Input: Tensionmentioning

confidence: 99%

“…However, since the elastic device itself does not have the control capability, it is difficult to achieve precise positioning and force control at the same time. Active compliance usually controls the relationship between contact force and contact displacement through force feedback [7,8] to achieve active safety in machining. According to the different control methods, it can usually be divided into impedance control, force/position hybrid control, adaptive control, and intelligent control.…”

Section: Introductionmentioning

confidence: 99%

Control Force Compensation and Wear Monitoring of Variable Stiffness Joints in Drive Machining Process

Yan-chen

2021

Mathematical Problems in Engineering

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Aiming at the joint flexibility and wear state existing in the process of driving mechanical parts, this paper first proposes a stiffness and position decoupling control method for variable stiffness joints, which realizes the joint position control and the unity of joint compliance. The joint stiffness model was obtained by using the static relationship between the Jacobian matrix and the model, and the nonlinear equations composed of the mechanical model and the stiffness model of the variable stiffness device were solved by the optimization method to realize the nonlinear decoupling of the stiffness and position of the variable stiffness joint. Secondly, this paper proposes an online monitoring method of wear state in the machining process based on machine tool information. In this method, OPC-UA communication technology was used to collect and store the information of CNC machine tools online, and the internal process information related to the wear of the machine tools was obtained. Based on such information and the corresponding wear information, a wear state recognition model is established by using a convolutional neural network. The feasibility and effectiveness of the proposed compliance control scheme and the performance of online monitoring of wear condition are analysed and verified by simulation experiments.

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“…Due to their advantages, PKM are used as sub mechanism modules in series-parallel hybrid robots in various fields such as humanoids, (THOR [6], LOLA [7], Charlie [8]), exoskeletons [9,10], haptic interface [11], surgeries [12], and industrial applications [13,14]), see [15] for an extensive survey. PKMs are also prominently employed in high speed industrial assembly lines, for example the DELTA + 1 DOF wrist robot [16].…”

Section: Introductionmentioning

confidence: 99%

An efficient combined local and global search strategy for optimization of parallel kinematic mechanisms with joint limits and collision constraints

Durgesh

Michel

Kumar

et al. 2022

Mechanism and Machine Theory

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Sensorless full body active compliance in a 6 DOF parallel manipulator

Cited by 19 publications

References 25 publications

A Survey on Design and Control of Lower Extremity Exoskeletons for Bipedal Walking

A Survey on Design and Control of Lower Extremity Exoskeletons for Bipedal Walking

Control Force Compensation and Wear Monitoring of Variable Stiffness Joints in Drive Machining Process

An efficient combined local and global search strategy for optimization of parallel kinematic mechanisms with joint limits and collision constraints

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