Robust Force Tracking Impedance Control of an Ultrasonic Motor-actuated End-effector in a Soft Environment

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Robust Force Tracking Impedance Control of an Ultrasonic Motor-actuated End-effector in a Soft Environment
Title:
Robust Force Tracking Impedance Control of an Ultrasonic Motor-actuated End-effector in a Soft Environment
Journal Title:
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Keywords:
Publication Date:
10 February 2021
Citation:
Liang, W., Feng, Z., Wu, Y., Gao, J., Ren, Q., & Lee, T. H. (2020). Robust Force Tracking Impedance Control of an Ultrasonic Motor-actuated End-effector in a Soft Environment. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). doi:10.1109/iros45743.2020.9340717
Abstract:
Robotic systems are increasingly required not only to generate precise motions to complete their tasks but also to handle the interactions with the environment or human. Significantly, soft interaction brings great challenges on the force control due to the nonlinear, viscoelastic and inhomogeneous properties of the soft environment. In this paper, a robust impedance control scheme utilizing integral backstepping technology and integral terminal sliding mode control is proposed to achieve force tracking for an ultrasonic motor-actuated end-effector in a soft environment. In particular, the steady-state performance of the target impedance while in contact with soft environment is derived and analyzed with the nonlinear Hunt-Crossley model. Finally, the dynamic force tracking performance of the proposed control scheme is verified via several experiments.
License type:
Publisher Copyright
Funding Info:
This research / project is supported by the Agency for Science, Technology and Research - AME Programmatic Funding Scheme
Grant Reference no. : A18A2b0046
Description:
© 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
ISSN:
2153-0866
2153-0858
ISBN:
978-1-7281-6212-6
978-1-7281-6213-3
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