The problem to ensure safety of performant robot arms during task execution was previously investigated by authors in [1], [2]. The problem can be approached by studying an optimal control policy, the “Safe Brachistocrone”, whose solutions are joint impedance trajectories coordinated with desired joint velocities. Transmission stiffness is chosen so as to achieve minimum–time task execution for...

In this paper an impedance control scheme is described in order to allow the joint use of visual and force information for controlling a robot during the tracking of a surface. A visual servoing system is employed for following a trajectory in the image space. The impedance control modifies the trajectory obtained from the visual servoing system allowing the system to maintain a constant force ...

This paper addresses the problem of impedance control for flexible joint robots based on a singular perturbation approach. Some aspects of the impedance controller, which turned out to be of high practical relevance during applications are then addressed, such as the implementation of nullspace stiffness for redundant manipulators, the avoiding of mass matrix decoupling and the related design o...

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new slid...

Virtual decomposition control is applied to control a KUKA 361 six-joint industrial robot performing hybrid tasks with a rigid unilateral constraint. In order to accommodate motion/force control, the required velocity is re-designed by introducing filtered contact forces in full control dimensions, which makes the controlled robot behave as hybrid controlled for a known contact geometry and imp...

In order to realize the active and compliant motion of robot, it is necessary eliminate impact caused by processing contact. A hybrid control strategy for grinding polishing robot proposed based on adaptive impedance control. Firstly, an electrically driven linear end effector designed system. The macro micro motions model established, using method, which contact system environment. Secondly, c...

Virtual model control is a motion control framework that uses virtual components to create virtual forces generated when the virtual components interact with a robot system. An algorithm derived based on the virtual model control framework is applied to a physical planar bipedal robot. It uses a simple set of virtual components that allows the robot to walk successfully over level terrain. This...

In this publication, we present a Motor Imagery (MI) based BrainComputer Interface (BCI) for neurologic rehabilitation. The BCI is able to control two different feedback devices. The first one is a rehabilitation robot, moving the fingers of the affected hand according to the detected MI. The second one presents feedback via virtual reality (VR) to the subject. The latter one visualizes two han...

Recently, assistive robots have attracted great attention from researchers in the rehabilitation field. These types of support patients to perform designated movements during a training process. Despite existence commercial systems, growing demands for improvement both hardware and control design are evident. Therefore, this paper introduces prototype pneumatic artificial muscle-based robot nam...