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ISA transactions, 2022
This paper focuses on the impedance control for robotic manipulators with time-varying output constraints. High-order control barrier functions (HoCBFs) are firstly proposed for a nonlinear system with high relative-degree time-varying constraints. Then,
Haijing Wang +4 more
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This paper focuses on the impedance control for robotic manipulators with time-varying output constraints. High-order control barrier functions (HoCBFs) are firstly proposed for a nonlinear system with high relative-degree time-varying constraints. Then,
Haijing Wang +4 more
semanticscholar +1 more source
Adaptive Neural Impedance Control of a Robotic Manipulator With Input Saturation
IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2016Wei He, Yiting Dong, Changyin Sun
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Proceedings of the Institution of mechanical engineers. Part B, journal of engineering manufacture, 2022
Polishing robot is an automatic system in which the robot controls the end effector to fix the polishing tool and finish the workpiece polishing efficiently.
Yufeng Ding, Junchao Zhao, X. Min
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Polishing robot is an automatic system in which the robot controls the end effector to fix the polishing tool and finish the workpiece polishing efficiently.
Yufeng Ding, Junchao Zhao, X. Min
semanticscholar +1 more source
Effective Coordinated Virtual Impedance Control for Accurate Power Sharing in Islanded Microgrid
IEEE transactions on industrial electronics (1982. Print), 2021In a practical islanded microgrid system, the mismatched line impedance causes serious problems, such as inaccurate power sharing and circulating current.
Minh‐Duc Pham, Hong‐Hee Lee
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, 2021
In this paper, the Intelligent Impedance Control based Wavelet Neural Network (IIC-WNN) is introduced as a noble adaptive variable impedance approach to enhance the efficiency of tracking the desired force and interaction with varying unknown (in terms ...
Mohammad Hossein Hamedani +4 more
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In this paper, the Intelligent Impedance Control based Wavelet Neural Network (IIC-WNN) is introduced as a noble adaptive variable impedance approach to enhance the efficiency of tracking the desired force and interaction with varying unknown (in terms ...
Mohammad Hossein Hamedani +4 more
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Proceedings of the 1998 IEEE International Conference on Control Applications (Cat. No.98CH36104), 2002
Industrial robots are confronted with performing tasks where a contact with their environment occurs. Therefore, there is a need for control algorithms with position tracking performance and force control ability. Up to date many algorithms have been proposed which deal with robot motion and force control.
A. Hace, K. Jezernik, S. Uran
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Industrial robots are confronted with performing tasks where a contact with their environment occurs. Therefore, there is a need for control algorithms with position tracking performance and force control ability. Up to date many algorithms have been proposed which deal with robot motion and force control.
A. Hace, K. Jezernik, S. Uran
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1993 IEEE International Solid-State Circuits Conference Digest of Technical Papers, 1993
The authors describe circuits and techniques that provide automatic on-chip impedance matching between a series-terminated, low-voltage swing, CMOS I/O pad, and an external interconnect. The automatic impedance control technique employs a digitally controlled output impedance driver, a high-gain, low-voltage differential receiver, and an IEEE-1149.1 ...
A. DeHon, T. Knight, T. Simon
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The authors describe circuits and techniques that provide automatic on-chip impedance matching between a series-terminated, low-voltage swing, CMOS I/O pad, and an external interconnect. The automatic impedance control technique employs a digitally controlled output impedance driver, a high-gain, low-voltage differential receiver, and an IEEE-1149.1 ...
A. DeHon, T. Knight, T. Simon
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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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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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Adaptive impedance control for docking robot via Stewart parallel mechanism.
ISA transactionsThis paper provides an adaptive impedance control strategy about docking robot, a locking mechanism scheme based on the Stewart platform developing for the problem of excessive collision contact force caused by external environmental interference during ...
Zhihua Chen +6 more
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