Advanced
search

To read this content please select one of the options below:

Smooth transition adaptive hybrid impedance control for connector assembly

Jun Wu (State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China)
Fenglei Ni (State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China)
Yuanfei Zhang (State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China)
Shaowei Fan (State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China)
Qi Zhang (School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China)
Jiayuan Lu (Chongqing Vocational College of Transportation, Chongqing, China)
Hong Liu (State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 12 February 2018

Issue publication date: 9 April 2018

281

Abstract

Purpose

This paper aims to present a smooth transition adaptive hybrid impedance control for compliant connector assembly.

Design/methodology/approach

The dynamics of the manipulator is firstly presented with linear property. The controller used in connector assembly is inspired by human operation habits in similar tasks. The hybrid impedance control is adopted to apply force in the assembly direction and provide compliance in rest directions. The reference trajectory is implemented with an adaptive controller. Event-based switching strategy is conducted for a smooth transition from unconstrained to constrained space.

Findings

The method can ensure both ideal compliance behaviour with dynamic uncertainty and a smooth transition from unconstrained to constrained space. Also, the method can ensure compliant connector assembly with a good tolerance to the target estimation error.

Practical implications

The method can be applied in the connector assembly by “pushing” operation. The controller devotes efforts on force tracking and smooth transition, having potential applications in contact tasks in delicate environment.

Originality/value

As far as the authors know, the paper is original in providing a uniform controller for improving force and position control performance in both unconstrained and constrained space with dynamic uncertainty. The proposed controller can ensure a smooth transition by only adjusting parameters.

Keywords

Acknowledgements

This research has been partially supported by Research Project of State Key Laboratory of Mechanical System and Vibration (No. MSV201609), Self-Planned Task (No. SKLRS201612B) of State Key Laboratory of Robotics and System (HIT) and the Foundation for Innovative Research Groups of the National Natural Science Foundation of China (No. 51521003). The authors would thank Dapeng Yang for his help in revising the manuscript.

Citation

Wu, J., Ni, F., Zhang, Y., Fan, S., Zhang, Q., Lu, J. and Liu, H. (2018), "Smooth transition adaptive hybrid impedance control for connector assembly", Industrial Robot, Vol. 45 No. 2, pp. 287-299. https://doi.org/10.1108/IR-11-2017-0193

Publisher

:

Emerald Publishing Limited

Copyright © 2018, Emerald Publishing Limited

Related articles

Manage cookies

We’re listening — tell us what you think

Join us on our journey