TY - GEN
T1 - Zener model based impedance control for high-precision force tracking of robot-environment interaction
AU - Wu, Xi
AU - Huang, Panfeng
AU - Liu, Zhengxiong
AU - Ma, Zhiqiang
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/7/15
Y1 - 2021/7/15
N2 - This paper proposes a new force tracking impedance control scheme based on Zener model for robot-environment interaction with high-precision force tracking, in which the proposed impedance model combines the conventional Voigt model and Maxwell model, and the model is capable of switching between Voigt model and Maxwell model with parameter changing for the requirement of specific application scenario. The proposed scheme can track the specified expected force and is less affected by the uncertainty of the robot dynamics and environmental force. The stability of the closed-loop system generated by the proposed impedance controller is analyzed, which proves that it is still stable even in the presence of uncertainties in the environment. Finally, simulations and experiments are carried out, and the experimental results verify the performance of the proposed scheme.
AB - This paper proposes a new force tracking impedance control scheme based on Zener model for robot-environment interaction with high-precision force tracking, in which the proposed impedance model combines the conventional Voigt model and Maxwell model, and the model is capable of switching between Voigt model and Maxwell model with parameter changing for the requirement of specific application scenario. The proposed scheme can track the specified expected force and is less affected by the uncertainty of the robot dynamics and environmental force. The stability of the closed-loop system generated by the proposed impedance controller is analyzed, which proves that it is still stable even in the presence of uncertainties in the environment. Finally, simulations and experiments are carried out, and the experimental results verify the performance of the proposed scheme.
UR - http://www.scopus.com/inward/record.url?scp=85115372033&partnerID=8YFLogxK
U2 - 10.1109/RCAR52367.2021.9517078
DO - 10.1109/RCAR52367.2021.9517078
M3 - 会议稿件
AN - SCOPUS:85115372033
T3 - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
SP - 697
EP - 702
BT - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
Y2 - 15 July 2021 through 19 July 2021
ER -