Instantaneous-model Impedance Control Based on Hybrid Position Controller
文献类型：会议论文
| 作者 | Tan XW(谈晓伟); Jiang Y(姜勇) ; Zhang, Hongzhao
|
| 出版日期 | 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 |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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