Design and Implementation of Plastic Deformation Behavior by Cartesian Impedance Control Based on Maxwell Model
Compliance has become one prerequisite of robots designed to work in complex operation environment where dynamic and uncertain physical contact or impact takes place frequently and even intentionally. Impedance control is a typical complaint control methodology. Standard impedance control is based o...
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2018/6752752 |
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| _version_ | 1832545319806566400 |
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| author | Le Fu Jie Zhao |
| author_facet | Le Fu Jie Zhao |
| author_sort | Le Fu |
| collection | DOAJ |
| description | Compliance has become one prerequisite of robots designed to work in complex operation environment where dynamic and uncertain physical contact or impact takes place frequently and even intentionally. Impedance control is a typical complaint control methodology. Standard impedance control is based on dynamics described by a spring and damper model connected in parallel way, which endues the robot an elastic behavior. In contrast, plastic deformation can be realized by Maxwell model in which spring and damper connect in series. In this study, a novel Cartesian impedance controller is constructed based on the Maxwell model. Implementation in a robot manipulator is executed to validate and analyze the proposed control law. A plastic deformation behavior of the robot manipulator is produced and certain extent compliance is achieved under the unpredictable impact or contact force exerted by human or other environment objects. |
| format | Article |
| id | doaj-art-99cd98fa30cd4e83963949a83f0a4536 |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-99cd98fa30cd4e83963949a83f0a45362025-02-03T07:26:10ZengWileyComplexity1076-27871099-05262018-01-01201810.1155/2018/67527526752752Design and Implementation of Plastic Deformation Behavior by Cartesian Impedance Control Based on Maxwell ModelLe Fu0Jie Zhao1State Key Laboratory of Robotics and System, School of Mechanical Engineering, Harbin Institute of Technology, Harbin 150080, ChinaState Key Laboratory of Robotics and System, School of Mechanical Engineering, Harbin Institute of Technology, Harbin 150080, ChinaCompliance has become one prerequisite of robots designed to work in complex operation environment where dynamic and uncertain physical contact or impact takes place frequently and even intentionally. Impedance control is a typical complaint control methodology. Standard impedance control is based on dynamics described by a spring and damper model connected in parallel way, which endues the robot an elastic behavior. In contrast, plastic deformation can be realized by Maxwell model in which spring and damper connect in series. In this study, a novel Cartesian impedance controller is constructed based on the Maxwell model. Implementation in a robot manipulator is executed to validate and analyze the proposed control law. A plastic deformation behavior of the robot manipulator is produced and certain extent compliance is achieved under the unpredictable impact or contact force exerted by human or other environment objects.http://dx.doi.org/10.1155/2018/6752752 |
| spellingShingle | Le Fu Jie Zhao Design and Implementation of Plastic Deformation Behavior by Cartesian Impedance Control Based on Maxwell Model Complexity |
| title | Design and Implementation of Plastic Deformation Behavior by Cartesian Impedance Control Based on Maxwell Model |
| title_full | Design and Implementation of Plastic Deformation Behavior by Cartesian Impedance Control Based on Maxwell Model |
| title_fullStr | Design and Implementation of Plastic Deformation Behavior by Cartesian Impedance Control Based on Maxwell Model |
| title_full_unstemmed | Design and Implementation of Plastic Deformation Behavior by Cartesian Impedance Control Based on Maxwell Model |
| title_short | Design and Implementation of Plastic Deformation Behavior by Cartesian Impedance Control Based on Maxwell Model |
| title_sort | design and implementation of plastic deformation behavior by cartesian impedance control based on maxwell model |
| url | http://dx.doi.org/10.1155/2018/6752752 |
| work_keys_str_mv | AT lefu designandimplementationofplasticdeformationbehaviorbycartesianimpedancecontrolbasedonmaxwellmodel AT jiezhao designandimplementationofplasticdeformationbehaviorbycartesianimpedancecontrolbasedonmaxwellmodel |