TY - GEN
T1 - Optimization-based compliance control strategy of redundant robot for ORU replacements
AU - Jiang, Li
AU - Huo, Xijian
AU - Liu, Yiwei
AU - Liu, Hong
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/9/27
Y1 - 2016/9/27
N2 - This paper proposes the MHIC (Modified Hybrid Impedance Control) strategy of the redundant robot for ORU replacements based on the ground testbed. First, the operation process is analyzed and the corresponding strategies of ORU replacements are proposed. Then, based on the traditional hybrid impedance control method, MHIC of redundant robots is proposed achieving compliance or force tracking in different subspace of the task space and multi-objective optimizations. And singularity, stability and the steady-state error of contact force are further analyzed. Finally, ORU replacements are performed using different control strategies based on the ground-testing robot system. Experimental results demonstrate that MHIC can improve stability and motion optimization, and reduce the contact force with uncertainties of constrained environments.
AB - This paper proposes the MHIC (Modified Hybrid Impedance Control) strategy of the redundant robot for ORU replacements based on the ground testbed. First, the operation process is analyzed and the corresponding strategies of ORU replacements are proposed. Then, based on the traditional hybrid impedance control method, MHIC of redundant robots is proposed achieving compliance or force tracking in different subspace of the task space and multi-objective optimizations. And singularity, stability and the steady-state error of contact force are further analyzed. Finally, ORU replacements are performed using different control strategies based on the ground-testing robot system. Experimental results demonstrate that MHIC can improve stability and motion optimization, and reduce the contact force with uncertainties of constrained environments.
UR - https://www.scopus.com/pages/publications/84991736392
U2 - 10.1109/WCICA.2016.7578788
DO - 10.1109/WCICA.2016.7578788
M3 - 会议稿件
AN - SCOPUS:84991736392
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 2192
EP - 2197
BT - Proceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 12th World Congress on Intelligent Control and Automation, WCICA 2016
Y2 - 12 June 2016 through 15 June 2016
ER -