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Variable Impedance Control of Cable Actuated Continuum Manipulators
He, Guangping1; Fan, Yanan1; Su, Tingting1,2; Zhao, Lei1; Zhao, Quanliang1
Source PublicationINTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
ISSN1598-6446
2020-02-04
Pages14
Corresponding AuthorHe, Guangping(hegp55@126.com)
AbstractContinuum manipulators are a class of special compliant robots that have important potential applications in the field of human-machine interactive operations, or work in cluttered and constrained environments. In these application scenarios, the most popular operation tasks are those with coupling force-position constraints. To simultaneously stabilize the desired operation force and the position of the manipulator, variable impedance control issues of the cable driven continuum manipulators are investigated in this paper. On the basis of constructing a novel Lyapunov function, a variable impedance control law is presented and the stability of the closed-loop system has also been analyzed. Then the operation space variable impedance control for a single segment cable driven continuum manipulator is realized by the aid of a pseudo-rigid-body model. Some numerical simulations also demonstrate the stability of the variable impedance control system.
KeywordContinuum manipulators control robots stability variable impedance
DOI10.1007/s12555-019-0449-y
WOS KeywordSHAPE TRACKING ; STIFFNESS ; ROBOTS ; KINEMATICS ; STABILITY ; DYNAMICS ; POSITION ; DESIGN
Indexed BySCI
Language英语
Funding ProjectNational Key R&D Program of China[2019YFB1309603] ; Beijing Natural Science Foundation[L172001] ; Beijing Natural Science Foundation[4204097] ; Beijing Natural Science Foundation[3172009] ; Beijing Natural Science Foundation[3194047] ; Natural Science Foundation of China[51775002] ; National Key R&D Program of China[2019YFB1309603] ; Beijing Natural Science Foundation[L172001] ; Beijing Natural Science Foundation[4204097] ; Beijing Natural Science Foundation[3172009] ; Beijing Natural Science Foundation[3194047] ; Natural Science Foundation of China[51775002]
Funding OrganizationNational Key R&D Program of China ; Beijing Natural Science Foundation ; Natural Science Foundation of China
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000511078000018
PublisherINST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
Citation statistics
Cited Times:10[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/28557
Collection复杂系统认知与决策实验室_先进机器人
Corresponding AuthorHe, Guangping
Affiliation1.North China Univ Technol, Dept Mech & Elect Engn, Beijing 100144, Peoples R China
2.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
He, Guangping,Fan, Yanan,Su, Tingting,et al. Variable Impedance Control of Cable Actuated Continuum Manipulators[J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS,2020:14.
APA He, Guangping,Fan, Yanan,Su, Tingting,Zhao, Lei,&Zhao, Quanliang.(2020).Variable Impedance Control of Cable Actuated Continuum Manipulators.INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS,14.
MLA He, Guangping,et al."Variable Impedance Control of Cable Actuated Continuum Manipulators".INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS (2020):14.
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