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Instantaneous-model Impedance Control Based on Hybrid Position Controller
Tan XW(谈晓伟); Jiang Y(姜勇); Zhang, Hongzhao
作者部门空间自动化技术研究室
会议名称IEEE 2nd Information Technology, Networking, Electronic and Automation Control Conference (ITNEC)
会议日期December 15-17, 2017
会议地点Chengdu, CHINA
会议主办者IEEE PRESS
会议录名称PROCEEDINGS OF 2017 IEEE 2ND INFORMATION TECHNOLOGY, NETWORKING, ELECTRONIC AND AUTOMATION CONTROL CONFERENCE (ITNEC)
出版者IEEE
出版地NEW YORK
2017
页码567-574
收录类别EI ; CPCI(ISTP)
EI收录号20181905178295
WOS记录号WOS:000426941100113
产权排序1
ISBN号978-1-5090-6414-4
关键词Impedance Control Admittance Control Singularity Motion Control
摘要Since 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.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/21743
专题空间自动化技术研究室
通讯作者Tan XW(谈晓伟)
作者单位1.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
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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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