Mains impedance is a critical parameter to consider when diagnosing load generated power quality problems. High impedance can contribute to voltage sags, low voltage conditions, high frequency noise, transient impulses, and harmonic voltages. These problems can be created by the critical load, or by other loads powered from the same electrical source. This paper presents the concept of mains im...

In the field of human-machine interaction mechanical impedance has become well implement. However, in humanvehicle interaction there is a variant environment when drivin a vehicle, thus apart from cooperating with human, an impedance is needed to adapt to the variant environment. But as being a second order mass-viscosity-stiffness model with fixed parameters, for mechanical impedance it is dif...

In this work, redundancy resolution and impedance modulation strategies have been employed to enhance intuitiveness and stability in physical human-robot interaction during co-manipulation tasks. An impedance strategy to control a redundant manipulator is defined in the Cartesian space. Different modulation laws for the impedance parameters are tested in combination with different strategies to...

This paper presents an approach of teleoperation using impedance control for both master and slave manipulators. The 4-channel architecture with impedance control ensures enhanced transparency by appropriately controlling the dynamic behavior between motion and applied forces in the task space of the manipulators on both sides. Performance of the system is improved by using on-line estimation o...

Force control of parallel robots with rotational degrees of freedom through impedance algorithms is considerably influenced by the representation method of the end-effector orientation. Using the natural invariants of the rotation matrix and the angular velocity vector in the impedance control law has some theoretical advantages, which derive from the Euclidean-geometric meaning of these entiti...

This paper proposes a hybrid control method of using the impedance control and the computed-torque control for biped robot locomotion. The computedtorque control is used for supporting (mn.strained) leg. For the free leg, the impedance control is wed, where different values of impedance parameters are used depending on the gait phase of the biped robot. To reduce the magnitude of an impact and ...

Power flow control is one of the most important issues for operating the inverter-dominated autonomous microgrid. A technical challenge is how to achieve the accurate active/reactive power sharing of inverters. P-F and Q-V droop control schemes have been widely used for power sharing in the past decades. But they suffer from the poor power sharing in the presence of unequal line impedance. In o...

Performance of impedance controller for robot force tracking is aaected by the uncertainties in both the robot dynamic model and environment stiiness. The purpose of this paper is to improve the controller ro-bustness by applying the neural network(NN) technique to compensate for the uncertainties in the robot model. NN control techniques are applied to two impedance control methods : torque-ba...