The DOI matches its Crossref record; 17 of the 17 references it cites were found in a registry or an index.
Force Tracking Impedance Control of Robot Manipulators Under Unknown Environment
Abstract
In this paper, a new simple stable force tracking impedance control scheme that has the capability to track a specified desired force and to compensate for uncertainties in environment location and stiffness as well as in robot dynamic model is proposed. The uncertainties in robot dynamics are compensated by the robust position control algorithm. After contact, in force controllable direction the new impedance function is realized based on a desired force, environment stiffness and a position error. The new impedance function is simple and stable. The force error is minimized by using an adaptive technique. Stability and convergence of the adaptive technique are analyzed for a stable force tracking execution. Simulation studies with a three link rotary robot manipulator are shown to demonstrate the robustness of the proposed scheme under uncertainties in robot dynamics, and little knowledges of environment position and environment stiffness. Experimental results are carried out to confirm the proposed controller's performance.
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Citations
Cites
Impedance Control: An Approach to Manipulation: Part I—Theory
Hogan, N. (1985) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3140702 · Cited by 3,673
Hybrid Position/Force Control of Manipulators
Raibert, M. H., & Craig, J. J. (1981) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3139652 · Cited by 3,015
Khatib, O. (1987) · IEEE Journal on Robotics and Automation · doi:10.1109/jra.1987.1087068 · Cited by 2,940
Impedance Control: An Approach to Manipulation
Hogan, N. (1984) · 1984 American Control Conference · doi:10.23919/acc.1984.4788393 · Cited by 2,929
Stable execution of contact tasks using impedance control
Hogan, N. (2005) · Proceedings. 1987 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.1987.1087854 · Cited by 427
Hybrid impedance control of robotic manipulators
Anderson, R. J., & Spong, M. W. (1988) · IEEE Journal on Robotics and Automation · doi:10.1109/56.20440 · Cited by 421
An analysis of contact instability in terms of passive physical equivalents
Colgate, E., & Hogan, N. (2003) · Proceedings, 1989 International Conference on Robotics and Automation · doi:10.1109/robot.1989.100021 · Cited by 266
Adaptive admittance control: an approach to explicit force control in compliant motion
Seraji, H. (2002) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1994.350927 · Cited by 157
Neural network impedance force control of robot manipulator
Jung, S., & Hsia, T. C. (1998) · IEEE Transactions on Industrial Electronics · doi:10.1109/41.679003 · Cited by 156
Self-citationRobust hybrid impedance control of robot manipulators
Liu, G. J., & Goldenberg, A. A. (2002) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1991.131589 · Cited by 110
Cited by
Jin, M., Lee, J., Chang, P. H., & Choi, C. (2009) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2009.2024097 · Cited by 428
Robust Tracking Under Nonlinear Friction Using Time-Delay Control With Internal Model
Cho, G. R., Chang, P. H., Park, S. H., & Jin, M. (2009) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2008.2007650 · Cited by 89
Microscale Precision Control of a Computer-Assisted Transoral Laser Microsurgery System
Lee, J., Deshpande, N., Caldwell, D. G., & Mattos, L. S. (2020) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2020.2973381 · Cited by 26
Metadata
- Authors
- Jung, S., Hsia, T. C., & Bonitz, R. G.
- Venue
- IEEE Transactions on Control Systems Technology
- Published
- 2004-05
- Volume
- 12
- Issue
- 3
- Pages
- 474-483
- ISSN
- 1063-6536 (ISSN-L)
- OpenAlex
- W2169440744
- Cited by
- 478
- References
- 17
- FWCI
- 13.56
- Type
- journal article
- Language
- en
- Open access
- closed
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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