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Published in 2019 at "International Journal of Control, Automation and Systems"
DOI: 10.1007/s12555-018-0477-z
Abstract: Although admittance control has been used in rehabilitation robots in many studies as it can realize compliant human-robot interaction, the inner proportional-integral-derivative (PID) controller of conventional admittance schemes is simple and not robust enough. This…
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Keywords:
control;
robot;
rehabilitation;
controller ... See more keywords
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Published in 2020 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2020.12.2716
Abstract: Abstract In this paper we address the problem of implementing a stochastic variable admittance control. Both the variable part of the admittance control and the noise affecting the system may concur to the instability of…
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Keywords:
system;
admittance control;
admittance;
energy tank ... See more keywords
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Published in 2017 at "Mechatronics"
DOI: 10.1016/j.mechatronics.2017.06.011
Abstract: Abstract This paper presents an experimental investigation of a new position control scheme that enhances the stability of admittance control by using: (a) PDD2 (proportional, derivative, and second derivative) feedback, (b) dither-based friction compensation and…
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Keywords:
admittance control;
control;
acceleration;
friction compensation ... See more keywords
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2
Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3142887
Abstract: In manual guidance robotic applications, like the handling of large and heavy objects in a cluttered environment, it is important to guarantee that the operator accurately reaches the goal position without collisions with working isles…
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Keywords:
manual guidance;
environment;
admittance control;
variable admittance ... See more keywords
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1
Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3150051
Abstract: Force control enables hands-on teaching and physical collaboration, with the potential to improve ergonomics and flexibility of automation. Established methods for the design of compliance, impedance control, and collision response can achieve free-space stability and…
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Keywords:
contact;
high payload;
payload;
admittance control ... See more keywords
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Published in 2019 at "IEEE Transactions on Cybernetics"
DOI: 10.1109/tcyb.2018.2828654
Abstract: In this paper, an admittance adaptation method has been developed for robots to interact with unknown environments. The environment to be interacted with is modeled as a linear system. In the presence of the unknown…
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Keywords:
neural networks;
interaction;
admittance control;
environment ... See more keywords
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Published in 2019 at "IEEE/ASME Transactions on Mechatronics"
DOI: 10.1109/tmech.2019.2910237
Abstract: This paper presents a variable admittance control method to achieve intuitive human–robot interactions that consider human intentions. Human intention is classified into two categories—direct and indirect. With respect to direct intention, the concept of standard…
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Keywords:
variable admittance;
intention;
control;
robot ... See more keywords
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1
Published in 2022 at "IEEE transactions on neural networks and learning systems"
DOI: 10.1109/tnnls.2021.3131261
Abstract: In this article, a robust control scheme is proposed for robots to achieve an optimal performance in the process of interacting with external forces from environments. The environmental dynamics are defined as a linear model,…
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Keywords:
interaction;
control;
reference adaptation;
admittance control ... See more keywords