TY - GEN
T1 - Impedance control based analysis of compliant flange
AU - Lin, Weiyang
AU - Yuan, Letian
AU - Dong, Wenbo
AU - Guan, Renhe
AU - Gu, Xiaoliang
AU - Qian, Cheng
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/6/30
Y1 - 2017/6/30
N2 - This paper mainly analyzes the typical compliant flange system and introduces impedance control methods for force tracking. First of all, we establish a compHant system with the internal cylinder of flange, electronic pressure regulator as well as other components, and build the transfer function of the system and verify the stability of the system. Next, we discuss about the model of compliant system when it is in contact with the external environment. According to the actual situation of the compliant system, it can be regarded as a first-order spring model approximately. Then, we analyze the meaning and function of the parameters of the impedance control system, attain some rules to adjust the parameters and validate the previously proposed theory with MATLAB/SIMULINK. Finally, the experimental platform is set up and we input the adjusted parameters into the platform and obtain the results with good response performance and system stability, which proves the accuracy of the analysis on the impedance control and verify the feasibility of the impedance control for the comphant system.
AB - This paper mainly analyzes the typical compliant flange system and introduces impedance control methods for force tracking. First of all, we establish a compHant system with the internal cylinder of flange, electronic pressure regulator as well as other components, and build the transfer function of the system and verify the stability of the system. Next, we discuss about the model of compliant system when it is in contact with the external environment. According to the actual situation of the compliant system, it can be regarded as a first-order spring model approximately. Then, we analyze the meaning and function of the parameters of the impedance control system, attain some rules to adjust the parameters and validate the previously proposed theory with MATLAB/SIMULINK. Finally, the experimental platform is set up and we input the adjusted parameters into the platform and obtain the results with good response performance and system stability, which proves the accuracy of the analysis on the impedance control and verify the feasibility of the impedance control for the comphant system.
KW - Impedance control
KW - compHant system
KW - impedance parameters
UR - https://www.scopus.com/pages/publications/85026770681
U2 - 10.1109/YAC.2017.7967599
DO - 10.1109/YAC.2017.7967599
M3 - 会议稿件
AN - SCOPUS:85026770681
T3 - Proceedings - 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2017
SP - 1222
EP - 1227
BT - Proceedings - 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 32nd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2017
Y2 - 19 May 2017 through 21 May 2017
ER -