SIA OpenIR  > 空间自动化技术研究室
Instantaneous-model Impedance Control Based on Hybrid Position Controller
Tan XW(谈晓伟); Jiang Y(姜勇); Zhang, Hongzhao
Department空间自动化技术研究室
Conference NameIEEE 2nd Information Technology, Networking, Electronic and Automation Control Conference (ITNEC)
Conference DateDecember 15-17, 2017
Conference PlaceChengdu, CHINA
Author of SourceIEEE PRESS
Source PublicationPROCEEDINGS OF 2017 IEEE 2ND INFORMATION TECHNOLOGY, NETWORKING, ELECTRONIC AND AUTOMATION CONTROL CONFERENCE (ITNEC)
PublisherIEEE
Publication PlaceNEW YORK
2017
Pages567-574
Indexed ByEI ; CPCI(ISTP)
EI Accession number20181905178295
WOS IDWOS:000426941100113
Contribution Rank1
ISBN978-1-5090-6414-4
KeywordImpedance Control Admittance Control Singularity Motion Control
AbstractSince the complementary characteristics of Impedance/Admittance Control and the low-controllability in singular configuration, this kind of compliant method is less likely to be uniformly used in diversified-tasks and unstructured surroundings. For these problems, formula derivation and manipulability ellipsoid are utilized to analyze and describe this dilemma in great detail. Moreover, the instantaneous-model impedance control based on hybrid position controller is proposed at the basis of instantaneous-model impedance control (IMIC), and this control strategy, apart from overcoming the plight of Impedance/Admittance control, can also remain relatively well controllability in singularities of manipulator so as to achieving the precise tracking of position as well as impedance behavior and dynamic contact-stability. Simulation experiment on 2-DOF manipulator is utilized to execute the traditional Impedance/Admittance control and proposed control law to have a comparison in terms of three different indexes. Besides, further physical experiment is conducted by using six-axis force/torque sensor and 6-DOF modular manipulator to verify the feasibility and effectivity of the designed control algorithm.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/21743
Collection空间自动化技术研究室
Corresponding AuthorTan XW(谈晓伟)
Affiliation1.College of Information Science and Engineering, Northeastern University, Shenyang, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
3.Shenzhen Power Supply Co., Ltd., Shenzhen, China
Recommended Citation
GB/T 7714
Tan XW,Jiang Y,Zhang, Hongzhao. Instantaneous-model Impedance Control Based on Hybrid Position Controller[C]//IEEE PRESS. NEW YORK:IEEE,2017:567-574.
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