In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new slid...

New control circuits and algorithms are frequently proposed to control the impedance (Z) source inverter in efficient way with added benefits. As a result, several modified control techniques have been proposed in recent years. Although these techniques are clearly superior to the simple boost control method which was initially proposed along with the Z-source inverter (ZSI), little or conf...

Abstract A new power sharing method of a virtual sychronous generator control based inverters is introduced in this paper. Since virtual synchronous generator has virtual inertia and damping properties, it significantly enhances the grid stability. However, its output power considerably affects by the line impedance. Thus, in this paper, the relation between the droop control and the line imped...

An adaptive impedance control algorithm for tendon-driven dexterous hands is presented. The main idea of this algorithm is to compensate the output of the classical impedance control by an offset that is a proportion-integration-differentiation (PID) expression of force error. The adaptive impedance control can adjust the impedance parameters indirectly when the environment position and stiffne...

The paper discusses the difference between explicit sensor-based control and impedance control, using an example of fast vision-based contour tracking. While explicit sensor-based control may cause a rough desired robot path with sharp vertices, impedance control is known to filter the trajectory at the expense of a bigger control error. We present a new implementation and a new approach to imp...

Impedance control facilitates the performance of tasks that involve contact with the environment. Two generic strategies for implementing impedance control have been described in the literature: the dynamic based approach [4] and the position based approach [7]. The second method has been introduced to eliminate the inherent sensitivity of the first method to the accuracy of the dynamic model. ...

In this article we consider, from an experimental point of view, the use of an impedance controller for manipulator in a contact task. During an assembly task, impacts, dynamical perturbations due to contact geometry variations or environment behavior changes, uncertainties and noises induce dii-culties to keep the system stable. The choice of the desired impedance and the reference velocities ...