Sliding mode hybrid impedance control of manipulators for complex interaction tasks

Jun Wu; Shaowei Fan; Shicai Shi; Zhiqi Li; Minghe Jin; Hong Liu

doi:10.1109/AIM.2017.8014151

Sliding mode hybrid impedance control of manipulators for complex interaction tasks

Jun Wu
, Shaowei Fan
, Shicai Shi
, Zhiqi Li
, Minghe Jin
, Hong Liu

School of Mechatronics Engineering

Harbin Institute of Technology

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

3 Scopus citations

Abstract

This paper presents a sliding mode hybrid impedance controller for complex interaction tasks. For easily implementing the scheme in embedded system, it is developed in discrete difference format. The hybrid impedance control is adopted since it is capable for both target impedance and force tracking. Then, the equivalent control based sliding mode control is introduced for robust to external disturbance. For smoother transitions between stages, the selection matrix is modified. The stability of the control system has been proved theoretically. At last, the effectiveness of the scheme has been validated by a group of simulations. The results provide smooth transitions and robustness to disturbances.

Original language	English
Title of host publication	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1009-1014
Number of pages	6
ISBN (Electronic)	9781509059980
DOIs	https://doi.org/10.1109/AIM.2017.8014151
State	Published - 21 Aug 2017
Event	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany Duration: 3 Jul 2017 → 7 Jul 2017

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Country/Territory	Germany
City	Munich
Period	3/07/17 → 7/07/17

Access to Document

10.1109/AIM.2017.8014151

Cite this

Wu, J., Fan, S., Shi, S., Li, Z., Jin, M., & Liu, H. (2017). Sliding mode hybrid impedance control of manipulators for complex interaction tasks. In 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 (pp. 1009-1014). Article 8014151 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2017.8014151

Wu, Jun ; Fan, Shaowei ; Shi, Shicai et al. / Sliding mode hybrid impedance control of manipulators for complex interaction tasks. 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 1009-1014 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

@inproceedings{bd4b4b14b4a34defbc6c449230fa8d1f,

title = "Sliding mode hybrid impedance control of manipulators for complex interaction tasks",

abstract = "This paper presents a sliding mode hybrid impedance controller for complex interaction tasks. For easily implementing the scheme in embedded system, it is developed in discrete difference format. The hybrid impedance control is adopted since it is capable for both target impedance and force tracking. Then, the equivalent control based sliding mode control is introduced for robust to external disturbance. For smoother transitions between stages, the selection matrix is modified. The stability of the control system has been proved theoretically. At last, the effectiveness of the scheme has been validated by a group of simulations. The results provide smooth transitions and robustness to disturbances.",

author = "Jun Wu and Shaowei Fan and Shicai Shi and Zhiqi Li and Minghe Jin and Hong Liu",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 ; Conference date: 03-07-2017 Through 07-07-2017",

year = "2017",

month = aug,

day = "21",

doi = "10.1109/AIM.2017.8014151",

language = "英语",

series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1009--1014",

booktitle = "2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017",

address = "美国",

}

Wu, J, Fan, S , Shi, S, Li, Z, Jin, M & Liu, H 2017, Sliding mode hybrid impedance control of manipulators for complex interaction tasks. in 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017., 8014151, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, Institute of Electrical and Electronics Engineers Inc., pp. 1009-1014, 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017, Munich, Germany, 3/07/17. https://doi.org/10.1109/AIM.2017.8014151

Sliding mode hybrid impedance control of manipulators for complex interaction tasks. / Wu, Jun; Fan, Shaowei ; Shi, Shicai et al.
2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1009-1014 8014151 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

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

TY - GEN

T1 - Sliding mode hybrid impedance control of manipulators for complex interaction tasks

AU - Wu, Jun

AU - Fan, Shaowei

AU - Shi, Shicai

AU - Li, Zhiqi

AU - Jin, Minghe

AU - Liu, Hong

PY - 2017/8/21

Y1 - 2017/8/21

N2 - This paper presents a sliding mode hybrid impedance controller for complex interaction tasks. For easily implementing the scheme in embedded system, it is developed in discrete difference format. The hybrid impedance control is adopted since it is capable for both target impedance and force tracking. Then, the equivalent control based sliding mode control is introduced for robust to external disturbance. For smoother transitions between stages, the selection matrix is modified. The stability of the control system has been proved theoretically. At last, the effectiveness of the scheme has been validated by a group of simulations. The results provide smooth transitions and robustness to disturbances.

AB - This paper presents a sliding mode hybrid impedance controller for complex interaction tasks. For easily implementing the scheme in embedded system, it is developed in discrete difference format. The hybrid impedance control is adopted since it is capable for both target impedance and force tracking. Then, the equivalent control based sliding mode control is introduced for robust to external disturbance. For smoother transitions between stages, the selection matrix is modified. The stability of the control system has been proved theoretically. At last, the effectiveness of the scheme has been validated by a group of simulations. The results provide smooth transitions and robustness to disturbances.

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U2 - 10.1109/AIM.2017.8014151

DO - 10.1109/AIM.2017.8014151

M3 - 会议稿件

AN - SCOPUS:85028749713

T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

SP - 1009

EP - 1014

BT - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017

Y2 - 3 July 2017 through 7 July 2017

ER -

Wu J, Fan S , Shi S, Li Z, Jin M , Liu H. Sliding mode hybrid impedance control of manipulators for complex interaction tasks. In 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 1009-1014. 8014151. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). doi: 10.1109/AIM.2017.8014151

Sliding mode hybrid impedance control of manipulators for complex interaction tasks

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