Adjusting the parameters of the mechanical impedance for velocity, impact and force control

This work is dedicated to the analysis of the application of active impedance control for the realisation of three objectives simultaneously: velocity regulation in free motion, impact attenuation and finally force tracking. At first, a brief analysis of active impedance control is made, deducing th...

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Autores: Zotovic Stanisic, Ranko|||0000-0002-4746-2101, Valera Fernández, Ángel|||0000-0001-6843-6394
Tipo de recurso: artículo
Fecha de publicación:2012
País:España
Institución:Universitat Politècnica de València (UPV)
Repositorio:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
Idioma:inglés
OAI Identifier:oai:riunet.upv.es:10251/46107
Acceso en línea:https://riunet.upv.es/handle/10251/46107
Access Level:acceso abierto
Palabra clave:Force control
Impact
Impedance control
Robot control
Switching
Active impedance
Force tracking
Free motion
Impact control
Mechanical impedances
Optimal switching
Robot controls
Computer applications
Robotics
INGENIERIA DE SISTEMAS Y AUTOMATICA
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spelling Adjusting the parameters of the mechanical impedance for velocity, impact and force controlZotovic Stanisic, Ranko|||0000-0002-4746-2101Valera Fernández, Ángel|||0000-0001-6843-6394Force controlImpactImpedance controlRobot controlSwitchingActive impedanceForce trackingFree motionImpact controlMechanical impedancesOptimal switchingRobot controlsComputer applicationsRoboticsINGENIERIA DE SISTEMAS Y AUTOMATICAThis work is dedicated to the analysis of the application of active impedance control for the realisation of three objectives simultaneously: velocity regulation in free motion, impact attenuation and finally force tracking. At first, a brief analysis of active impedance control is made, deducing the value of each parameter in order to achieve the three objectives. It is demonstrated that the system may be made overdamped with the adequate selection of the parameters if the characteristics of the environment are known, avoiding high overshoots of force during the impact. The second and most important contribution of this work is an additional measure for impact control in the case when the characteristics of the environment are unknown. It consists in switching among different values of the parameters of the impedance in order to dissipate faster the energy of the system, limiting the peaks of force and avoiding losses of contact. The optimal switching criteria are deduced for every parameter in order to dissipate the energy of the system as fast as possible. The results are verified in simulation. © 2011 Cambridge University Press.The authors want to express their gratitude to the Plan Nacional de I+D, Comision Interministerial de Ciencia y Tecnologia (FEDER-CICYT) for the partial financing of this work under the projects DPI2009-13830-C02-01 and DPI2010-20814-C02-02.Cambridge University Press (CUP)Departamento de Ingeniería de Sistemas y AutomáticaInstituto Universitario de Automática e Informática IndustrialEscuela Técnica Superior de Ingeniería IndustrialEscuela Técnica Superior de Ingeniería InformáticaMinisterio de Ciencia e InnovaciónRepositorio Institucional de la Universitat Politècnica de València Riunet20122012-07-01journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfapplication/pdfhttps://riunet.upv.es/handle/10251/46107reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valénciainstname:Universitat Politècnica de València (UPV)InglésengMinisterio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 DPI2009-13830-C02-01 Modelado Cinematico Y Dinamico Del Movimiento De Los Tejidos Blandos. Aplicacion Al Diseño De Modelos Biomecanicos (Desarrollo E Implementacion De Modelos)Ministerio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 DPI2010-20814-C02-02 IDENTIFICACION DE PARAMETROS DINAMICOS EN VEHICULOS LIGEROS Y ROBOTS MOVILES. APLICACION AL CONTROL Y LA NAVEGACION AUTOMATICAopen accesshttp://purl.org/coar/access_right/c_abf2Reserva de todos los derechoshttp://rightsstatements.org/vocab/InC/1.0/info:eu-repo/semantics/openAccessoai:riunet.upv.es:10251/461072026-06-13T07:49:27Z
dc.title.none.fl_str_mv Adjusting the parameters of the mechanical impedance for velocity, impact and force control
title Adjusting the parameters of the mechanical impedance for velocity, impact and force control
spellingShingle Adjusting the parameters of the mechanical impedance for velocity, impact and force control
Zotovic Stanisic, Ranko|||0000-0002-4746-2101
Force control
Impact
Impedance control
Robot control
Switching
Active impedance
Force tracking
Free motion
Impact control
Mechanical impedances
Optimal switching
Robot controls
Computer applications
Robotics
INGENIERIA DE SISTEMAS Y AUTOMATICA
title_short Adjusting the parameters of the mechanical impedance for velocity, impact and force control
title_full Adjusting the parameters of the mechanical impedance for velocity, impact and force control
title_fullStr Adjusting the parameters of the mechanical impedance for velocity, impact and force control
title_full_unstemmed Adjusting the parameters of the mechanical impedance for velocity, impact and force control
title_sort Adjusting the parameters of the mechanical impedance for velocity, impact and force control
dc.creator.none.fl_str_mv Zotovic Stanisic, Ranko|||0000-0002-4746-2101
Valera Fernández, Ángel|||0000-0001-6843-6394
author Zotovic Stanisic, Ranko|||0000-0002-4746-2101
author_facet Zotovic Stanisic, Ranko|||0000-0002-4746-2101
Valera Fernández, Ángel|||0000-0001-6843-6394
author_role author
author2 Valera Fernández, Ángel|||0000-0001-6843-6394
author2_role author
dc.contributor.none.fl_str_mv Departamento de Ingeniería de Sistemas y Automática
Instituto Universitario de Automática e Informática Industrial
Escuela Técnica Superior de Ingeniería Industrial
Escuela Técnica Superior de Ingeniería Informática
Ministerio de Ciencia e Innovación
Repositorio Institucional de la Universitat Politècnica de València Riunet
dc.subject.none.fl_str_mv Force control
Impact
Impedance control
Robot control
Switching
Active impedance
Force tracking
Free motion
Impact control
Mechanical impedances
Optimal switching
Robot controls
Computer applications
Robotics
INGENIERIA DE SISTEMAS Y AUTOMATICA
topic Force control
Impact
Impedance control
Robot control
Switching
Active impedance
Force tracking
Free motion
Impact control
Mechanical impedances
Optimal switching
Robot controls
Computer applications
Robotics
INGENIERIA DE SISTEMAS Y AUTOMATICA
description This work is dedicated to the analysis of the application of active impedance control for the realisation of three objectives simultaneously: velocity regulation in free motion, impact attenuation and finally force tracking. At first, a brief analysis of active impedance control is made, deducing the value of each parameter in order to achieve the three objectives. It is demonstrated that the system may be made overdamped with the adequate selection of the parameters if the characteristics of the environment are known, avoiding high overshoots of force during the impact. The second and most important contribution of this work is an additional measure for impact control in the case when the characteristics of the environment are unknown. It consists in switching among different values of the parameters of the impedance in order to dissipate faster the energy of the system, limiting the peaks of force and avoiding losses of contact. The optimal switching criteria are deduced for every parameter in order to dissipate the energy of the system as fast as possible. The results are verified in simulation. © 2011 Cambridge University Press.
publishDate 2012
dc.date.none.fl_str_mv 2012
2012-07-01
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://riunet.upv.es/handle/10251/46107
url https://riunet.upv.es/handle/10251/46107
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Ministerio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 DPI2009-13830-C02-01 Modelado Cinematico Y Dinamico Del Movimiento De Los Tejidos Blandos. Aplicacion Al Diseño De Modelos Biomecanicos (Desarrollo E Implementacion De Modelos)
Ministerio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 DPI2010-20814-C02-02 IDENTIFICACION DE PARAMETROS DINAMICOS EN VEHICULOS LIGEROS Y ROBOTS MOVILES. APLICACION AL CONTROL Y LA NAVEGACION AUTOMATICA
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reserva de todos los derechos
http://rightsstatements.org/vocab/InC/1.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reserva de todos los derechos
http://rightsstatements.org/vocab/InC/1.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Cambridge University Press (CUP)
publisher.none.fl_str_mv Cambridge University Press (CUP)
dc.source.none.fl_str_mv reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
instname:Universitat Politècnica de València (UPV)
instname_str Universitat Politècnica de València (UPV)
reponame_str RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
collection RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,301603

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