Experimental study on a robust interaction control with unknown environments

Abstract The non‐linear bang‐bang impact control (NBBIC) had been proposed two decades ago as a promising robot interaction control to deal with free‐space motion, impact, and the constrained‐space motion without changing controller structure and gains. It does not need robot and environment dynamic...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Sang Hyun Park, Maolin Jin, Hyunah Kang, Sang Hoon Kang
Formato:	article
Lenguaje:	EN
Publicado:	Wiley 2021
Materias:	Electrical engineering. Electronics. Nuclear engineering TK1-9971
Acceso en línea:	https://doaj.org/article/318c86e9d2474afa88f2a5e033699415
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:318c86e9d2474afa88f2a5e033699415
record_format	dspace
spelling	oai:doaj.org-article:318c86e9d2474afa88f2a5e0336994152021-12-03T08:34:31ZExperimental study on a robust interaction control with unknown environments1350-911X0013-519410.1049/ell2.12328https://doaj.org/article/318c86e9d2474afa88f2a5e0336994152021-12-01T00:00:00Zhttps://doi.org/10.1049/ell2.12328https://doaj.org/toc/0013-5194https://doaj.org/toc/1350-911XAbstract The non‐linear bang‐bang impact control (NBBIC) had been proposed two decades ago as a promising robot interaction control to deal with free‐space motion, impact, and the constrained‐space motion without changing controller structure and gains. It does not need robot and environment dynamics except for an estimate of inertia matrix, and utilize the most recent control input and acceleration to compensate for the robot and environment dynamics and disturbances. Recently, the stability for multi‐degree‐of‐freedom robots was completely proved. Hence, the experimental verification of its performance and utility remains. Thus, this study has verified the performance of NBBIC in comparison with other controllers using an industrial robot and shown that the performance of NBBIC was comparable to or better than that of other controllers. Further, experimentally, it has been demonstrated that NBBIC can be used for human‐robot and multi‐robot cooperation. Thus, it is expected that NBBIC is used for many of the interaction tasks.Sang Hyun ParkMaolin JinHyunah KangSang Hoon KangWileyarticleElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENElectronics Letters, Vol 57, Iss 25, Pp 964-966 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Electrical engineering. Electronics. Nuclear engineering TK1-9971
spellingShingle	Electrical engineering. Electronics. Nuclear engineering TK1-9971 Sang Hyun Park Maolin Jin Hyunah Kang Sang Hoon Kang Experimental study on a robust interaction control with unknown environments
description	Abstract The non‐linear bang‐bang impact control (NBBIC) had been proposed two decades ago as a promising robot interaction control to deal with free‐space motion, impact, and the constrained‐space motion without changing controller structure and gains. It does not need robot and environment dynamics except for an estimate of inertia matrix, and utilize the most recent control input and acceleration to compensate for the robot and environment dynamics and disturbances. Recently, the stability for multi‐degree‐of‐freedom robots was completely proved. Hence, the experimental verification of its performance and utility remains. Thus, this study has verified the performance of NBBIC in comparison with other controllers using an industrial robot and shown that the performance of NBBIC was comparable to or better than that of other controllers. Further, experimentally, it has been demonstrated that NBBIC can be used for human‐robot and multi‐robot cooperation. Thus, it is expected that NBBIC is used for many of the interaction tasks.
format	article
author	Sang Hyun Park Maolin Jin Hyunah Kang Sang Hoon Kang
author_facet	Sang Hyun Park Maolin Jin Hyunah Kang Sang Hoon Kang
author_sort	Sang Hyun Park
title	Experimental study on a robust interaction control with unknown environments
title_short	Experimental study on a robust interaction control with unknown environments
title_full	Experimental study on a robust interaction control with unknown environments
title_fullStr	Experimental study on a robust interaction control with unknown environments
title_full_unstemmed	Experimental study on a robust interaction control with unknown environments
title_sort	experimental study on a robust interaction control with unknown environments
publisher	Wiley
publishDate	2021
url	https://doaj.org/article/318c86e9d2474afa88f2a5e033699415
work_keys_str_mv	AT sanghyunpark experimentalstudyonarobustinteractioncontrolwithunknownenvironments AT maolinjin experimentalstudyonarobustinteractioncontrolwithunknownenvironments AT hyunahkang experimentalstudyonarobustinteractioncontrolwithunknownenvironments AT sanghoonkang experimentalstudyonarobustinteractioncontrolwithunknownenvironments
_version_	1718373379497525248

Experimental study on a robust interaction control with unknown environments

Ejemplares similares