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The purpose of this paper is to design a new compliant motion/force control strategy for robotic manipulators with environmental constraints in the sense of fixed-time stability.
Abstract
Purpose
The purpose of this paper is to design a new compliant motion/force control strategy for robotic manipulators with environmental constraints in the sense of fixed-time stability.
Design/methodology/approach
This paper investigates a novel compliant motion/force control strategy for robotic manipulators with environmental constraints. By using the Lyapunov theory and fixed-time stability theory, a non-singular terminal sliding mode manifold is first established. Then, the compliant motion/force controller is designed, and relevant conditions are given for guaranteeing that the robotic manipulator can track the prescribed constrained trajectory while exerting a desired force to the environment in fixed-time. An illustrative example is presented to show the effectiveness of our proposed control strategy.
Findings
Based on fixed-time stability theory, the desired compliant motion/force controller for robotic manipulators with environmental constraints is developed.
Originality/value
Compared with most existing literature, the proposed fixed-time compliant motion/force control strategy can provide the upper bound of the settling time independent of the initial conditions in designing procedure and is more practical for the real-world applications.
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Keywords
Large gear components widely exist in the transmission system of helicopters, ships, etc. Due to the small assembly clearance of large gear components, using an automatic docking…
Abstract
Purpose
Large gear components widely exist in the transmission system of helicopters, ships, etc. Due to the small assembly clearance of large gear components, using an automatic docking system based on position control will lead to forced assembly. The purpose of this paper is to reduce the assembly stress of large gear components by an active compliant docking technology based on distributed force sensors.
Design/methodology/approach
Firstly, aiming at the noise interference in three-dimensional force sensor (TDFS), Kalman filter and Savitzky–Golay filter are used to process the sensor’s output signal. Secondly, the active compliant docking control model is constructed according to the principle of impedance control. Thirdly, the contact force is calculated based on the Euler equation, and the impedance control parameters are tuned by the particle swarm optimization algorithm. Finally, an active compliant docking system of a large gear structure based on distributed force sensor is built in the laboratory to verify the proposed method.
Findings
The experimental results show that the contact force and contact torque gradually decrease in all directions and are always in the safe range during the docking process. The feasibility of this method in practical application is preliminarily demonstrated.
Originality/value
The distributed TDFSs are used to replace the traditional six-dimensional force sensor in the active compliant docking system of gear components, which solves the problem of the small bearing capacity of the conventional active compliant docking system. This method can also be used for the docking of other large components.
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Keywords
Yanjiang Huang, Yanglong Zheng, Nianfeng Wang, Jun Ota and Xianmin Zhang
The paper aims to propose an assembly scheme based on master–slave coordination for a compliant dual-arm robot to complete a peg-in-hole assembly task.
Abstract
Purpose
The paper aims to propose an assembly scheme based on master–slave coordination for a compliant dual-arm robot to complete a peg-in-hole assembly task.
Design/methodology/approach
The proposed assembly scheme is inspired by the coordinated behaviors of human beings in the assembly process. The left arm and right arm of the robot are controlled to move alternately. The fixed arm and the moving arm are distinguished as the slave arm and the master arm, respectively. The position control model is used at the uncontacted stage, and the torque control model is used at the contacted stage.
Findings
The proposed assembly scheme is evaluated through peg-in-hole assembly experiments with different shapes of assembly piece. The round, triangle and square assembly piece with 0.5 mm maximum clearance between the peg and the hole can be assembled successfully based on the proposed method. Furthermore, three assembly strategies are investigated and compared in the peg-in-hole assembly experiments with different shapes of assembly piece.
Originality/value
The contribution of this study is that the authors propose an assembly scheme for a compliant dual-arm robot to overcome the low positioning accuracy and complete the peg-in-hole assembly tasks with different shapes parts.
Details
Keywords
Admittance control is a typical complaint control methodology. Traditionally, admittance control systems are based on a dynamical relationship described by Voigt model. By…
Abstract
Purpose
Admittance control is a typical complaint control methodology. Traditionally, admittance control systems are based on a dynamical relationship described by Voigt model. By contrast, after changing connection of spring and damper, Maxwell model produces different dynamics and has shown better impact absorption performance. This paper aims to design a novel compliant control method based on Maxwell model and implement it in a robot catching scenario.
Design/methodology/approach
To achieve this goal, this paper proposed a Maxwell model based admittance control scheme. Considering several motion stages involved in one catching attempt, the following approaches are adopted. First, Kalman filter is used to process the position data stream acquired from motion capture system and predict the subsequent object flying trajectory. Then, a linear segments with parabolic blends reaching motion is generated to achieve time-optimal movement under kinematic and joint inherent constraints. After robot reached the desired catching point, the proposed Maxwell model based admittance controller performs such as a cushion to moderate the impact between robot end-effector and flying object.
Findings
This paper has experimentally demonstrated the feasibility and effectiveness of the proposed method. Compared with typical Voigt model based compliant catching, less object bounding away from end-effector happens and the success rate of catching has been improved.
Originality/value
The authors proposed a novel Maxwell model based admittance control method and demonstrated its effectiveness in a robot catching scenario. The author’s approach may inspire other related researchers and has great potential of practical usage in a widespread of robot applications.
Details
Keywords
Jun Wu, Fenglei Ni, Yuanfei Zhang, Shaowei Fan, Qi Zhang, Jiayuan Lu and Hong Liu
This paper aims to present a smooth transition adaptive hybrid impedance control for compliant connector assembly.
Abstract
Purpose
This paper aims to present a smooth transition adaptive hybrid impedance control for compliant connector assembly.
Design/methodology/approach
The dynamics of the manipulator is firstly presented with linear property. The controller used in connector assembly is inspired by human operation habits in similar tasks. The hybrid impedance control is adopted to apply force in the assembly direction and provide compliance in rest directions. The reference trajectory is implemented with an adaptive controller. Event-based switching strategy is conducted for a smooth transition from unconstrained to constrained space.
Findings
The method can ensure both ideal compliance behaviour with dynamic uncertainty and a smooth transition from unconstrained to constrained space. Also, the method can ensure compliant connector assembly with a good tolerance to the target estimation error.
Practical implications
The method can be applied in the connector assembly by “pushing” operation. The controller devotes efforts on force tracking and smooth transition, having potential applications in contact tasks in delicate environment.
Originality/value
As far as the authors know, the paper is original in providing a uniform controller for improving force and position control performance in both unconstrained and constrained space with dynamic uncertainty. The proposed controller can ensure a smooth transition by only adjusting parameters.
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Keywords
Guoteng Zhang, Zhenyu Jiang, Yueyang Li, Hui Chai, Teng Chen and Yibin Li
Legged robots are inevitably to interact with the environment while they are moving. This paper aims to properly handle these interactions. It works to actively control the joint…
Abstract
Purpose
Legged robots are inevitably to interact with the environment while they are moving. This paper aims to properly handle these interactions. It works to actively control the joint torques of a hydraulic-actuated leg prototype and achieve compliant motion of the leg.
Design/methodology/approach
This work focuses on the modelling and controlling of a hydraulic-actuated robot leg prototype. First, the design and kinematics of the leg prototype is introduced. Then the linearlized model for the hydraulic actuator is built, and a model-based leg joint torque controller is presented. Furthermore, the virtual model controller is implemented on the prototype leg to achieve active compliance of the leg. Effectiveness of the controllers are validated through the experiments on the physical platform as well as the results from simulations.
Findings
The hydraulic joint torque controller presented in this paper shows good torque tracking performance. And the actively compliant leg successfully emulates the performance of virtual passive components under dynamic situations.
Originality/value
The main contribution of this paper is that it proposed a model-based active compliance controller for the hydraulic-actuated robot leg. It will be helpful for those robots that aim to achieve versatile and safe motions.
Details
Keywords
Stefan Fenz, Stefanie Plieschnegger and Heidi Hobel
The purpose of this paper is to increase the degree of automation within information security compliance projects by introducing a formal representation of the ISO 27002 standard…
Abstract
Purpose
The purpose of this paper is to increase the degree of automation within information security compliance projects by introducing a formal representation of the ISO 27002 standard. As information is becoming more valuable and the current businesses face frequent attacks on their infrastructure, enterprises need support at protecting their information-based assets.
Design/methodology/approach
Information security standards and guidelines provide baseline knowledge for protecting corporate assets. However, the efforts to check whether the implemented measures of an organization adhere to the proposed standards and guidelines are still significantly high.
Findings
This paper shows how the process of compliance checking can be supported by using machine-readable ISO 27002 control descriptions in combination with a formal representation of the organization’s assets.
Originality/value
The authors created a formal representation of the ISO 27002 standard and showed how a security ontology can be used to increase the efficiency of the compliance checking process.
Details
Keywords
The purpose of this paper is to introduce the physical structure and the control mechanism of human motor nervous system to the robotic system in a tentative manner to improve the…
Abstract
Purpose
The purpose of this paper is to introduce the physical structure and the control mechanism of human motor nervous system to the robotic system in a tentative manner to improve the compliance/flexibility/versatility of the robot.
Design/methodology/approach
A brief review is focused on the concept of compliance, the compliance-based methods and the application of some compliance-based devices. Combined with the research on the physical structure and the control mechanism of human motor nervous system, a new drive structure and control method is proposed.
Findings
Introducing the physical structure and the control mechanism of human motor nervous system can improve the compliance/flexibility/versatility of the robot, without bringing in more complexity or inefficiency to the system, which helps in the assembly automation tasks.
Originality/value
The proposed drive structure and control method are useful to build up a novel, low-cost robotic assembly automation system, which is easy to interact and cooperate with humans.
Details
Keywords
Ya'nan Lou, Pengkun Quan, Haoyu Lin, Zhuo Liang, Dongbo Wei and Shichun Di
This purpose of this paper is to design a peg-in-hole controller for a cable-driven serial robot with compliant wrist (CDSR-CW) using cable tensions and joint positions. The peg…
Abstract
Purpose
This purpose of this paper is to design a peg-in-hole controller for a cable-driven serial robot with compliant wrist (CDSR-CW) using cable tensions and joint positions. The peg is connected to the robot link through a CW. It is required that the controller does not rely on any external sensors such as 6-axis wrist force/torque (F/T) sensor, and only the compliance matrix’s estimated value of the CW is known.
Design/methodology/approach
First, the peg-in-hole assembly system based on a CDSR-CW is analyzed. Second, a characterization algorithm using micro cable tensions and joint positions to express the elastic F/T at the CW is established. Next, under the premise of only knowing the compliance matrix’s estimate, a peg-in-hole controller based on force/position hybrid control is proposed.
Findings
The experiment results show that the plug contact F/T can be tracked well. This verifies the validity and correctness of the characterization algorithm and peg-in-hole controller for CDSR-CWs in this paper.
Originality/value
First, to the authors’ knowledge, there is no relevant work about the peg-in-hole assembly task using a CDSR-CW. Besides, the proposed characterization algorithm for the elastic F/T makes the peg-in-hole controller get rid of the dependence on the F/T sensor, which expands the application scenarios of the peg-in-hole controller. Finally, the controller does not require an accurate compliance matrix, which also increases its applicability.
Details
Keywords
Wei Yang, Linghui Xu, Linfan Yu, Yuting Chen, Zehao Yan and Canjun Yang
Walking-aid exoskeletons can assist and protect effectively the group with lower limb muscle strength decline, workers, first responders and military personnel. However, there is…
Abstract
Purpose
Walking-aid exoskeletons can assist and protect effectively the group with lower limb muscle strength decline, workers, first responders and military personnel. However, there is almost no united control strategy that can effectively assist daily walking. This paper aims to propose a hybrid oscillators’ (HOs) model to adapt to irregular gait (IG) patterns (frequent alternation between walking and standing or rapid changing of walking speed, etc.) and generate compliant and no-delay assistive torque.
Design/methodology/approach
The proposed algorithm, HOs, combines adaptive oscillators (AOs) with phase oscillator through switching assistive mode depending on whether or not the AOs' predicting error of hip joint degree is exceeded our expectation. HOs can compensate for delay by predicting gait phase when in AOs mode. Several treadmill and free walking experiments are designed to test the adaptability and effectiveness of HOs model under IG.
Findings
The experimental results show that the assistive strategy based on the HOs is effective under IG patterns, and delay is compensated totally under quasiperiodic gait conditions where a smoother human–robot interaction (HRI) force and the reduction of HRI force peak are observed. Delay compensation is found very effective at improving the performance of the assistive exoskeleton.
Originality/value
A novel algorithm is proposed to improve the adaptability of a walking assist hip exoskeleton in daily walking as well as generate compliant, no-delay assistive torque when converging.
Details