Full metadata record
DC Field | Value | Language |
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dc.contributor.author | Samuel, Kangwagye | - |
dc.contributor.author | Haninger, Kevin | - |
dc.contributor.author | Oboe, Roberto | - |
dc.contributor.author | Oh, Sehoon | - |
dc.date.accessioned | 2024-01-05T19:40:14Z | - |
dc.date.available | 2024-01-05T19:40:14Z | - |
dc.date.created | 2023-11-08 | - |
dc.date.issued | ACCEPT | - |
dc.identifier.issn | 0278-0046 | - |
dc.identifier.uri | http://hdl.handle.net/20.500.11750/47589 | - |
dc.description.abstract | 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 environment but remains challenging on industrial robots. Typically, high-performance motion control is achieved by low-admittance systems, which can give high transient forces or instability in contact with high-stiffness environments. This article proposes a linear admittance control framework from which a multifunction observer (MOB)-based control scheme that succeeds in directly improving the motion control accuracy by suppressing disturbances, while achieving better loop shaping in the outer-loop admittance control is designed. By using the task space force and position measurement of the robot, combined with linearized position-controlled robot and payload models to design the MOB, the outer-loop controller can render improved interactive dynamics. In addition, a methodology to design the proposed MOB based on the reduced-order model is developed. Furthermore, the bounded-magnitude frequency-domain uncertainty in the linear model is identified at a variety of robot poses. Theoretical evaluations and experiments verify the effectiveness of the proposed MOB-based control method, in contact with a very stiff environment and with a 7-kg payload. | - |
dc.language | English | - |
dc.publisher | Institute of Electrical and Electronics Engineers | - |
dc.title | Outer-Loop Admittance and Motion Control Dual Improvement via a Multi-Function Observer | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/TIE.2023.3317843 | - |
dc.identifier.wosid | 001085337900001 | - |
dc.identifier.scopusid | 2-s2.0-85174848960 | - |
dc.identifier.bibliographicCitation | IEEE Transactions on Industrial Electronics | - |
dc.description.isOpenAccess | FALSE | - |
dc.subject.keywordAuthor | Admittance control | - |
dc.subject.keywordAuthor | motion control | - |
dc.subject.keywordAuthor | multi-function observer (MOB) | - |
dc.subject.keywordPlus | FLEXIBLE-JOINT ROBOTS | - |
dc.subject.keywordPlus | DISTURBANCE-OBSERVER | - |
dc.subject.keywordPlus | ROBUST-CONTROL | - |
dc.subject.keywordPlus | MANIPULATORS | - |
dc.subject.keywordPlus | STABILITY | - |
dc.citation.title | IEEE Transactions on Industrial Electronics | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems; Engineering; Instruments & Instrumentation | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems; Engineering, Electrical & Electronic; Instruments & Instrumentation | - |
dc.type.docType | Article | - |
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