Increasing admittance of industrial robots by velocity feedback inner-loop shaping
Admittance and impedance controllers are often purely feedforward, using measured
external force or motion, respectively, to generate a reference for an inner-loop controller. In …
external force or motion, respectively, to generate a reference for an inner-loop controller. In …
Outer-loop admittance and motion control dual improvement via a multi-function observer
Safe environment contact, and high-performance motion control are typically conflicting
design goals. Admittance control can improve safety and stability in contact with a stiff …
design goals. Admittance control can improve safety and stability in contact with a stiff …
Task space outer-loop integrated DOB-based admittance control of an industrial robot
Admittance control can improve robot performance and robustness in interactive tasks but is
still limited by stability when implemented on low-admittance hardware, such as position …
still limited by stability when implemented on low-admittance hardware, such as position …
A Perturbation-Robust Framework for Admittance Control of Robotic Systems With High-Stiffness Contacts and Heavy Payload
Applications involving serial manipulators, in both co-manipulation with humans and
autonomous operation tasks, require the robot to render high admittance so as to minimize …
autonomous operation tasks, require the robot to render high admittance so as to minimize …
Improved Contact Stability for Admittance Control of Industrial Robots with Inverse Model Compensation
Industrial robots have increased payload, repeatability, and reach compared to collaborative
robots, however, they have a fixed position controller and low intrinsic admittance. This …
robots, however, they have a fixed position controller and low intrinsic admittance. This …
Disturbance-observer-based admittance control and its application to safe contact regulation
Robust force control systems guarantee robustness to disturbance, including external force.
Few previous studies, however, clarify transitions between contact and non-contact. This …
Few previous studies, however, clarify transitions between contact and non-contact. This …
Integrated DOB-Based Approach for Admittance Control of an Industrial Robot
Admittance control can improve robot performance and robustness in interactive tasks, but is
still limited by stability when implemented on low-admittance hardware, such as position …
still limited by stability when implemented on low-admittance hardware, such as position …
Reduced-Order Nominal Model Design and Validation For Task Space DOB-Based Motion Control of An Industrial Robot
In conventional robust motion control systems, disturbance observer (DOB) nominal models
are designed with same order as the actual plant such that the nominal model directly …
are designed with same order as the actual plant such that the nominal model directly …