We introduce visual impedance, a new scheme for vision based control which realizes task-level dynamical robot control using a Ims m“sualfeedback system. This method is simply described as applying image features to the impedance equation so that integration of a visual servo and a conventional servo system can be naturally accomplished. With visual impedance, an adaptive motion is obtained for...

Impedance control is an important method in robot–environment interaction. In traditional impedance control, the damping force regarded as a linear viscoelastic model, which limits description of dynamic model system to certain extent. For robot manipulator, optimal parameters controller are key improve performance. this paper, described more accurately by fractional calculus than and fractiona...

This paper presents experimental studies of impedance force tracking control algorithm for a crack sealing robot. The robot is built to find and seal cracks on the pavement. Regulating contact force improves the performance of cleaning process before sealing. The proposed impedance force control method is robust to perform tasks under unknown surface condition such as stiffness and position of ...

Force control is very important for many practical manipulation tasks of robot manipulators, such as, assembly, grinding, deburring that associate with interaction between the end-effector of the robot and the environment. Force control of the robot manipulator can be break down into two categories: Position/Force Hybrid Control and Impedance Control. The former is focused on regulation of both...

In this paper, a new robust robot force tracking impedance control scheme that uses neural network as a compensator is proposed. The proposed neural com-pensator has the capability of making the robot to track a speciied desired force as well as of compensating for uncertainties in environment location and stiiness, and the uncertainties in robot dynamics. The neural compensator is trained sepa...

Within the context of impedance controlled exoskeletons, common actuators have important drawbacks. Either the actuators are heavy, have a complex structure or are poor torque sources, due to gearing or heavy nonlinearity. Considering our application, an impedance controlled gait rehabilitation robot for treadmill-training, we designed an actuation system that might avoid these drawbacks. It co...