The International Journal of Robotics Study, Ahead of Publish.
Unified force-impedance control (UFIC) focuses on incorporating the benefits of insusceptibility control and pressure control. Conformity and specific pressure guideline are just as crucial capabilities in modern-day robotic adjustment. The industrialized passivity-based structure improves the power storage tank principle and appropriates for serial inflexible and flexible-joint robotics. Additionally, it has the ability to deal either with straight pressure dimensions or model-based get in touch with pressure evaluation. Hence, in this academic structure, one of the most pertinent functional systems are covered and revealed to be secure for approximate passive atmospheres. Specific emphasis is likewise laid on a durable impedance-based contact/non-contact stablizing approach that protects against sudden, undesirable, and possibly hazardous motions of the manipulator in instance of get in touch with loss, a widely known issue of both insusceptibility and pressure control. The legitimacy of the technique is received simulation and via different experiments. Our job origins in Haddadin (2015 ); Schindlbeck and Haddadin (2015 ), where the fundamental UFIC guideline controller was recommended. In the here and now paper, we substantially progress this concept right into a total academic UFIC monitoring structure, consisting of extensive security evaluation and substantial speculative proof.
发布者：Sami Haddadin，转转请注明出处：https://robotalks.cn/unified-force-impedance-control/
