Active Impedance Control of Bioinspired Motion Robotic Manipulators: An Overview
المؤلفون المشاركون
Leonhardt, Steffen
Al-Shuka, Hayder F. N.
Zhu, Wen-Hong
Song, Rui
Ding, Chao
Li, Yibin
المصدر
Applied Bionics and Biomechanics
العدد
المجلد 2018، العدد 2018 (31 ديسمبر/كانون الأول 2018)، ص ص. 1-19، 19ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2018-10-18
دولة النشر
مصر
عدد الصفحات
19
التخصصات الرئيسية
الملخص EN
There are two main categories of force control schemes: hybrid position-force control and impedance control.
However, the former does not take into account the dynamic interaction between the robot’s end effector and the environment.
In contrast, impedance control includes regulation and stabilization of robot motion by creating a mathematical relationship between the interaction forces and the reference trajectories.
It involves an energetic pair of a flow and an effort, instead of controlling a single position or a force.
A mass-spring-damper impedance filter is generally used for safe interaction purposes.
Tuning the parameters of the impedance filter is important and, if an unsuitable strategy is used, this can lead to unstable contact.
Humans, however, have exceptionally effective control systems with advanced biological actuators.
An individual can manipulate muscle stiffness to comply with the interaction forces.
Accordingly, the parameters of the impedance filter should be time varying rather than value constant in order to match human behavior during interaction tasks.
Therefore, this paper presents an overview of impedance control strategies including standard and extended control schemes.
Standard controllers cover impedance and admittance architectures.
Extended control schemes include admittance control with force tracking, variable impedance control, and impedance control of flexible joints.
The categories of impedance control and their features and limitations are well introduced.
Attention is paid to variable impedance control while considering the possible control schemes, the performance, stability, and the integration of constant compliant elements with the host robot.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Al-Shuka, Hayder F. N.& Leonhardt, Steffen& Zhu, Wen-Hong& Song, Rui& Ding, Chao& Li, Yibin. 2018. Active Impedance Control of Bioinspired Motion Robotic Manipulators: An Overview. Applied Bionics and Biomechanics،Vol. 2018, no. 2018, pp.1-19.
https://search.emarefa.net/detail/BIM-1114797
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Al-Shuka, Hayder F. N.…[et al.]. Active Impedance Control of Bioinspired Motion Robotic Manipulators: An Overview. Applied Bionics and Biomechanics No. 2018 (2018), pp.1-19.
https://search.emarefa.net/detail/BIM-1114797
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Al-Shuka, Hayder F. N.& Leonhardt, Steffen& Zhu, Wen-Hong& Song, Rui& Ding, Chao& Li, Yibin. Active Impedance Control of Bioinspired Motion Robotic Manipulators: An Overview. Applied Bionics and Biomechanics. 2018. Vol. 2018, no. 2018, pp.1-19.
https://search.emarefa.net/detail/BIM-1114797
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1114797
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر