Articles with "admittance control" as a keyword



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Design and Test of Admittance Control with Inner Adaptive Robust Position Control for a Lower Limb Rehabilitation Robot

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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… read more here.

Keywords: control; robot; rehabilitation; controller ... See more keywords
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A variable stochastic admittance control framework with energy tank

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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… read more here.

Keywords: system; admittance control; admittance; energy tank ... See more keywords
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Stability enhancement of admittance control with acceleration feedback and friction compensation

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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… read more here.

Keywords: admittance control; control; acceleration; friction compensation ... See more keywords
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RRT* and Goal-Driven Variable Admittance Control for Obstacle Avoidance in Manual Guidance Applications

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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… read more here.

Keywords: manual guidance; environment; admittance control; variable admittance ... See more keywords
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Towards High-Payload Admittance Control for Manual Guidance With Environmental Contact

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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… read more here.

Keywords: contact; high payload; payload; admittance control ... See more keywords
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Neural Networks Enhanced Adaptive Admittance Control of Optimized Robot–Environment Interaction

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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… read more here.

Keywords: neural networks; interaction; admittance control; environment ... See more keywords
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Variable Admittance Control of Robot Manipulators Based on Human Intention

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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… read more here.

Keywords: variable admittance; intention; control; robot ... See more keywords
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Robust Admittance Control of Optimized Robot-Environment Interaction Using Reference Adaptation.

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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,… read more here.

Keywords: interaction; control; reference adaptation; admittance control ... See more keywords