Smooth transition adaptive hybrid impedance control for connector assembly

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.

[1]  Riccardo Muradore,et al.  A Review of Algorithms for Compliant Control of Stiff and Fixed-Compliance Robots , 2016, IEEE/ASME Transactions on Mechatronics.

[2]  Prabhakar R. Pagilla,et al.  Design and implementation of a robust switching control scheme for a class of constrained robot tasks , 2006, Int. J. Syst. Sci..

[3]  Robert N. K. Loh,et al.  Passive compliance versus active compliance in robot‐based automated assembly systems , 1998 .

[4]  Kazuhiro Kosuge,et al.  Collision detection system for manipulator based on adaptive impedance control law , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[5]  Prabhakar R. Pagilla,et al.  A stable transition controller for constrained robots , 2001 .

[6]  J. Slotine,et al.  On the Adaptive Control of Robot Manipulators , 1987 .

[7]  Heidar Ali Talebi,et al.  A novel strategy for smooth force-position switching control of micropositioning piezoelectric actuators , 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[8]  Chris J. B. Macnab,et al.  Adaptive Haptic Control for Telerobotics Transitioning Between Free, Soft, and Hard Environments , 2012, IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans.

[9]  Jing Xiao,et al.  Active compliant motion: a survey , 2005, Adv. Robotics.

[10]  Xinyu Wu,et al.  Development and experimental evaluation of multi-fingered robot hand with adaptive impedance control for unknown environment grasping , 2016, Robotica.

[11]  M. O. M. Osman,et al.  Hybrid compliance control for intelligent assembly in a robot work cell , 1998 .

[12]  Yangmin Li,et al.  A Cooperated-Robot Arm Used for Rehabilitation Treatment with Hybrid Impedance Control Method , 2010, ICIRA.

[13]  Jing Xu,et al.  Improved parameter optimization method for complex assembly process in robotic manufacturing , 2017, Ind. Robot.

[14]  Antonella Ferrara,et al.  Hybrid position/force sliding mode control of a class of robotic manipulators , 2009, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference.

[15]  Yong Liu,et al.  Smooth Transition from Motion to Force Control in Robotic Manipulation Using Vision , 2006, 2006 9th International Conference on Control, Automation, Robotics and Vision.

[16]  Romeo Ortega,et al.  On adaptive impedance control of robot manipulators , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[17]  Marco A. Arteaga,et al.  Adaptive position/force control for robot manipulators in contact with a rigid surface with unknown parameters , 2015, 2015 European Control Conference (ECC).

[18]  Jun Wu,et al.  Design and experiment of a universal space-saving end-effector for multi-task operations , 2016, Ind. Robot.

[19]  Yunhui Liu,et al.  Model-based adaptive hybrid control for geometrically constrained robots , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[20]  Jing Xu,et al.  Study on dual peg-in-hole insertion using of constraints formed in the environment , 2017, Ind. Robot.

[21]  Hong Liu,et al.  Design and development of a 7-DOF humanoid arm , 2012, 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[22]  Paolo Dario,et al.  A review on the evolvement trend of robotic interaction control , 2016, Ind. Robot.

[23]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation: Part I—Theory , 1985 .