Impedance scaling approach presented in this paper is specially developed for teleoperation robot control to meet requirements to control robots and mechatronic systems with completely different dimensions and mechanic characteristics than the human operator. It is applied to the developed RoTeMiNa robot system with 6 DOF and to the mechatronic handling device with 3 DOF for micro and nano oper...

A position-based impedance controller for excavator-type manipulators has been developed in our laboratory. This paper describes the proposed impedance controller and presents supporting experimental results. First, the problem of impedance control for a single hydraulic actuator is addressed and a method is presented for stability analysis. Steady-state position and force tracking of the close...

In this work, a cartesian impedance controller purposely designed for dexterous manipulation is described. Based on the main features of the DLR Hand II, concerning kinematic structure and sensory equipment of fingers, this control strategy allows to overcome the main problems encountered in fine manipulation, namely: effects of the friction (and unmodeled dynamics) on robot performances and oc...

This paper presents an efficient compliance control scheme for legs of walking machines interacting with an uncertain environment and proposes an impact control based on neural system. The proposed method combines the technique of the indirect MRAC (Model Reference Adaptive Control) with the properties of self-learning neural nets. Present research is focused on the optimization of motion of me...

The application of robot manipulators in industry is in general related to tasks such as manipulation or painting that requires only position control of the arm. Nonetheless, there are other robotic tasks like pushing, polishing and grinding that require interaction between the manipulator and a contact surface or environment. This fact leads to the desire of controlling the interaction between...

The concept of mechanical impedance represents the interactive relationship between deformation kinematics and the resulting dynamics in human joints or limbs. A major component of impedance, stiffness, is defined as the ratio between the force change to the displacement change and is strongly related to muscle activation. The set of impedance components, including effective mass, inertia, damp...

In this industry-oriented research and development project, we studied the introduction implementation of autonomous mobile robots (AMRs) for transporting equipment parts in manufacturing facilities aircraft equipment. relationship between operator AMR, it is crucial to implement an driving mode as well enable control operation by directly interacting with such when moving complex locations. ca...

One of the hallmarks of the performance, versatility, and robustness of biological motor control is the ability to adapt the impedance of the overall biomechanical system to different task requirements and stochastic disturbances. A transfer of this principle to robotics is desirable, for instance to enable robots to work robustly and safely in everyday human environments. It is, however, not t...

Distributed impedance is an efficient approach for controlling any kind of cooperating manipulation system. It combines the advantages of decentralized control solutions and the robustness of impedance control with force feedback. Distributed impedance was implemented on a dualarm system composed of two industrial manipulators. Experimental results were obtained for free and constrained manipul...