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Real-Time Transient Voltage and Frequency Sensing Strategy for Resilience Enhancement of PV-Storage Systems in Weak Grids. [PDF]
Sensors (Basel)Ji Y +7 more
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Transparency-optimized position-position control for human-scale bilateral teleoperation. [PDF]
Front Robot AINoohian A +3 more
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2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO), 2019
In impedance control, a robot is regulated to appear the port property similar to that of a physical system so that the wanted interactive performance is accomplished while interaction with the environment occurs. Since the port property of a robot is independent of the environment, impedance control can be synthesized without taking the environment ...
Yuancan Huang, Lulu Liang
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In impedance control, a robot is regulated to appear the port property similar to that of a physical system so that the wanted interactive performance is accomplished while interaction with the environment occurs. Since the port property of a robot is independent of the environment, impedance control can be synthesized without taking the environment ...
Yuancan Huang, Lulu Liang
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Force tracking in impedance control
[1993] Proceedings IEEE International Conference on Robotics and Automation, 1997This article presents two simple on-line schemes for force tracking within the impedance-control framework. The force- tracking capability of impedance control is particularly important for providing robustness in the presence of large uncertainties or variations in environmental parameters.
Homayoun Seraji, Richard Colbaugh
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Impedance Control of Space Robot
International Journal of Modelling and Simulation, 2006The force control of a space robot is a difficult task, as the interaction of robot tip with the environment causes the base to change its position and orientation. Impedance control is an efficient method for trajectory and force control in a robotic system.
P.M. Pathak, A. Mukherjee, A. Dasgupta
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An Impedance Controller for Surface Alignment
Proceedings of the 4th International Conference on Control, Mechatronics and Automation, 2016This paper present a human-inspired compliant surface to surface alignment method for robotic manipulators. The surface alignment task is break down into several stages, a) make a point contact, b) alignment of point-contact to line-contact, and finally c) surface to surface alignment.
YuanRui Yang +2 more
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Quadratic optimization of impedance control
Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 2002This paper presents algorithms for continuous-time quadratic optimization of impedance control. Explicit solutions to the Hamilton-Jacobi equation for optimal control of rigid-body motion are found by solving an algebraic matrix equation. System stability is investigated according to Lyapunov function theory, and it is shown that global asymptotic ...
Rolf Johansson 0001, Mark W. Spong
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Unified Impedance and Admittance Control
2010 IEEE International Conference on Robotics and Automation, 2010Impedance and Admittance Control are two distinct implementations of the same control goal. It is well known that their stability and performance properties are complementary. In this paper, we present a hybrid system approach, which incorporates Impedance and Admittance Control as two extreme cases of one family of controllers. This approach allows to
Christian Ott 0001 +2 more
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Robust impedance control for SEAs
Journal of the Franklin Institute, 2020zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Yuancan Huang, Siqi Li, Qiang Huang 0002
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Impedance control for industrial robots
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), 2002A new impedance controller is presented. Special attention has been paid to all those aspects that qualify an industrial robot, including decentralized PID positional control, torsional flexibility and friction at the joints. Discussion of a single degree of freedom case proved to be valuable in the design of the impedance controller for a complete ...
F. Cecconello +4 more
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