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题名:
Instantaneous-model Impedance Control Based on Hybrid Position Controller
作者: 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
通讯作者: 谈晓伟
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: PROCEEDINGS OF 2017 IEEE 2ND INFORMATION TECHNOLOGY, NETWORKING, ELECTRONIC AND AUTOMATION CONTROL CONFERENCE (ITNEC)
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2017
页码: 567-574
收录类别: CPCI(ISTP)
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
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/21743
Appears in Collections:空间自动化技术研究室_会议论文

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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

Recommended Citation:
Tan XW,Jiang Y,Zhang, Hongzhao. Instantaneous-model Impedance Control Based on Hybrid Position Controller[C]. IEEE 2nd Information Technology, Networking, Electronic and Automation Control Conference (ITNEC). Chengdu, CHINA. December 15-17, 2017.Instantaneous-model Impedance Control Based on Hybrid Position Controller.
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