Instantaneous-model Impedance Control Based on Hybrid Position Controller

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	Instantaneous-model Impedance Control Based on Hybrid Position Controller
	Tan XW(谈晓伟); Jiang Y(姜勇); Zhang, Hongzhao
	2017
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
关键词	impedance control admittance control singularity motion control
页码	567-574
通讯作者	Tan XW(谈晓伟)
中文摘要	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.
收录类别	EI ; CPCI（ISTP）
产权排序	1
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
语种	英语
ISBN号	978-1-5090-6414-4
WOS记录号	WOS:000426941100113
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/21743]
专题	沈阳自动化研究所_空间自动化技术研究室
作者单位	1.Shenzhen Power Supply Co., Ltd., Shenzhen, China 2.College of Information Science and Engineering, Northeastern University, Shenyang, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式 GB/T 7714	Tan XW,Jiang Y,Zhang, Hongzhao. Instantaneous-model Impedance Control Based on Hybrid Position Controller[C]. 见:IEEE 2nd Information Technology, Networking, Electronic and Automation Control Conference (ITNEC). Chengdu, CHINA. December 15-17, 2017.