An acceleration based force-impedance controller is presented in this paper. The proposed control strategy is applied to a six-dof parallel robotic mini-manipulator: the Robotic Controlled Impedance Device (RCID).
The control strategy involves three cascade controllers: an inner acceleration controller, built as a set of six Single-Input-Single-Output (SISO) acceleration controllers (one per manipulator axis), an impedance task-space controller, and an outer force controller. The proposed control strategy enables two kinds of manipulator behaviour: force limited impedance control and position limited force control. The type of behaviour only depends on the chosen manipulator trajectories.
The RCID may be used as a force-impedance controlled auxiliary device, coupled in series with a position controlled industrial robot, or as a stand-alone force feedback display, that may be used as a master manipulator in master-slave telemanipulated systems or as a haptic device interacting with virtual environments.
Experimental results of the RCID used as an auxiliary device working coupled to an industrial manipulator are presented.
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Lopes, A.M., Almeida, F.G. (2009). Force–Impedance Control of a Six-dof Parallel Manipulator. In: Machado, J.A.T., Pátkai, B., Rudas, I.J. (eds) Intelligent Engineering Systems and Computational Cybernetics. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-8678-6_4
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