Observer-Based Impedance Control in Robotics

Observer Based Dynamic Visual Feedback Control for Nonlinear Robotics Systems

This paper investigates a robot motion control problem with visual information. Firstly the model of the relativ erigid body motion (positions and rotations) and the method for the estimation of the relative rigid body motion are presented in order to derive the visual feedback system. Secondly we consider the velocit y observer and derive the dynamic visual feedback system which contains the m...

Hybrid Impedance Control in Constraint Coordinates using a Disturbance Observer

Many contact tasks are more easily deened in terms of constraint equations (and therefore constraint coordinates), rather than either Cartesian or joint coordinates. Deburring and grinding are examples of two such tasks. Hybrid Impedance control has been a popular force control algorithm for these tasks. This paper gives a procedure to specify orthogonal subspaces in constraint coordinates. It ...

Haptic teleoperation using Impedance Control with Application in Homecare Robotics

This paper presents an approach of teleoperation using impedance control for both master and slave manipulators. The 4-channel architecture with impedance control ensures enhanced transparency by appropriately controlling the dynamic behavior between motion and applied forces in the task space of the manipulators on both sides. Performance of the system is improved by using on-line estimation o...

Robotic force control using observer-based strict positive real impedance control

Observer-based sliding mode impedance control of bilateral teleoperation under constant unknown time delay

Sliding mode control has been used extensively in robotics to cope with parametric uncertainty and hard nonlinearities, in particular for timedelay teleoperators, which have gained gradual acceptance due to technological advancements. However, since the slave teleoperator is in contact with a rigid environment, the slave controller requires a free of chattering control strategy, thus making fir...