Control Method for the Balance Recovery of Indirect Tight Coordination Task Based on Force Sensor

Mantian Li; Ran Guo; Fusheng Zha; Fei Chen; Jian Huang

doi:10.1109/ARSO.2018.8625720

Control Method for the Balance Recovery of Indirect Tight Coordination Task Based on Force Sensor

Mantian Li
, Ran Guo
, Fusheng Zha^*
, Fei Chen
, Jian Huang

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology
Italian Institute of Technology
Huazhong University of Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

In view of the problem of instability of movable objects due to disturbances in indirect tight coordination tasks (ITCT), a set of control methods were proposed. The movable objects can be controlled to return to initial position and maintain dynamic balance with these methods. These methods are based on two six-axis force/torque sensors, which are helpful to determine the position and velocity information of the movable object. With these information, the trajectory of the arms would be generated by the balance recovery controller to indirectly control the acceleration of the movable objects. By planning the acceleration reasonably, the movable objects can eventually return to initial position and keep dynamic balance. Finally, the validity and feasibility of this algorithm are verified by simulation.

Original language	English
Title of host publication	2018 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2018
Publisher	IEEE Computer Society
Pages	15-20
Number of pages	6
ISBN (Electronic)	9781538680377
DOIs	https://doi.org/10.1109/ARSO.2018.8625720
State	Published - 2 Jul 2018
Event	2018 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2018 - Genoa, Italy Duration: 27 Sep 2018 → 28 Sep 2018

Publication series

Name	Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
Volume	2018-September
ISSN (Print)	2162-7568
ISSN (Electronic)	2162-7576

Conference

Conference	2018 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2018
Country/Territory	Italy
City	Genoa
Period	27/09/18 → 28/09/18

Access to Document

10.1109/ARSO.2018.8625720

Cite this

Li, M., Guo, R., Zha, F., Chen, F., & Huang, J. (2018). Control Method for the Balance Recovery of Indirect Tight Coordination Task Based on Force Sensor. In 2018 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2018 (pp. 15-20). Article 8625720 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; Vol. 2018-September). IEEE Computer Society. https://doi.org/10.1109/ARSO.2018.8625720

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title = "Control Method for the Balance Recovery of Indirect Tight Coordination Task Based on Force Sensor",

abstract = "In view of the problem of instability of movable objects due to disturbances in indirect tight coordination tasks (ITCT), a set of control methods were proposed. The movable objects can be controlled to return to initial position and maintain dynamic balance with these methods. These methods are based on two six-axis force/torque sensors, which are helpful to determine the position and velocity information of the movable object. With these information, the trajectory of the arms would be generated by the balance recovery controller to indirectly control the acceleration of the movable objects. By planning the acceleration reasonably, the movable objects can eventually return to initial position and keep dynamic balance. Finally, the validity and feasibility of this algorithm are verified by simulation.",

author = "Mantian Li and Ran Guo and Fusheng Zha and Fei Chen and Jian Huang",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2018 ; Conference date: 27-09-2018 Through 28-09-2018",

year = "2018",

month = jul,

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doi = "10.1109/ARSO.2018.8625720",

language = "英语",

series = "Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO",

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pages = "15--20",

booktitle = "2018 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2018",

address = "美国",

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Li, M, Guo, R, Zha, F, Chen, F & Huang, J 2018, Control Method for the Balance Recovery of Indirect Tight Coordination Task Based on Force Sensor. in 2018 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2018., 8625720, Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO, vol. 2018-September, IEEE Computer Society, pp. 15-20, 2018 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2018, Genoa, Italy, 27/09/18. https://doi.org/10.1109/ARSO.2018.8625720

Control Method for the Balance Recovery of Indirect Tight Coordination Task Based on Force Sensor. / Li, Mantian; Guo, Ran; Zha, Fusheng et al.
2018 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2018. IEEE Computer Society, 2018. p. 15-20 8625720 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; Vol. 2018-September).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Li, Mantian

AU - Guo, Ran

AU - Zha, Fusheng

AU - Chen, Fei

AU - Huang, Jian

PY - 2018/7/2

Y1 - 2018/7/2

N2 - In view of the problem of instability of movable objects due to disturbances in indirect tight coordination tasks (ITCT), a set of control methods were proposed. The movable objects can be controlled to return to initial position and maintain dynamic balance with these methods. These methods are based on two six-axis force/torque sensors, which are helpful to determine the position and velocity information of the movable object. With these information, the trajectory of the arms would be generated by the balance recovery controller to indirectly control the acceleration of the movable objects. By planning the acceleration reasonably, the movable objects can eventually return to initial position and keep dynamic balance. Finally, the validity and feasibility of this algorithm are verified by simulation.

AB - In view of the problem of instability of movable objects due to disturbances in indirect tight coordination tasks (ITCT), a set of control methods were proposed. The movable objects can be controlled to return to initial position and maintain dynamic balance with these methods. These methods are based on two six-axis force/torque sensors, which are helpful to determine the position and velocity information of the movable object. With these information, the trajectory of the arms would be generated by the balance recovery controller to indirectly control the acceleration of the movable objects. By planning the acceleration reasonably, the movable objects can eventually return to initial position and keep dynamic balance. Finally, the validity and feasibility of this algorithm are verified by simulation.

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Li M, Guo R, Zha F, Chen F, Huang J. Control Method for the Balance Recovery of Indirect Tight Coordination Task Based on Force Sensor. In 2018 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2018. IEEE Computer Society. 2018. p. 15-20. 8625720. (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO). doi: 10.1109/ARSO.2018.8625720

Control Method for the Balance Recovery of Indirect Tight Coordination Task Based on Force Sensor

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