Position-based impedance control for force tracking of a wall-cleaning unit View Full Text


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

2016-03

AUTHORS

Taegyun Kim, Hwa Soo Kim, Jongwon Kim

ABSTRACT

This paper presents a position-based impedance control scheme for force tracking of a wall-cleaning unit installed on the wallclimbing mobile platform ROPE RIDE. It is important to maintain a contact force between the wall-cleaning unit and various types of walls in order to guarantee good cleaning performance. For this purpose, the target stiffness of impedance model as well as the reference position command for the wall-cleaning unit are tactfully adjusted according to the force tracing error between the real and reference contact forces. In comparison with existing impedance control methods, the proposed impedance control scheme is not only simple to implement but also robust against external disturbances such as varying trajectory or stiffness of walls as well as model uncertainties of cleaning unit. As a result, the proposed impedance control scheme can promise acceptable force tracking error in the steady state even for various trajectories of wall and varying reference forces. The stability and performance of proposed impedance control scheme are theoretically examined and the extensive experiments using the wall-cleaning unit are carried out to prove the force tracking capability of the proposed impedance control scheme. More... »

PAGES

323-329

References to SciGraph publications

  • 2010-10. Control of impulsive contact force between mobile manipulator and environment using effective mass and damping controls in INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING
  • 2014-09. Design, motion planning and control of frozen shoulder rehabilitation robot in INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING
  • 2011-06. Neural network based hybrid force/position control for robot manipulators in INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING
  • 2014-10. Dynamic modeling of coupled tendon-driven system for surgical robot instrument in INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING
  • 2014-03. Hole detection algorithm for chamferless square peg-in-hole based on shape recognition using F/T sensor in INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING
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    http://scigraph.springernature.com/pub.10.1007/s12541-016-0040-x

    DOI

    http://dx.doi.org/10.1007/s12541-016-0040-x

    DIMENSIONS

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    131 rdf:type schema:Organization
     




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