Active Impedance Control of Bioinspired Motion Robotic Manipulators: An Overview

There are two main categories of force control schemes: hybrid position-force control and impedance control. However, the former does not take into account the dynamic interaction between the robot’s end effector and the environment. In contrast, impedance control includes regulation and stabilizati...

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Bibliographic Details
Published in:Applied bionics and biomechanics 2018-01, Vol.2018 (2018), p.1-19
Main Authors: Ding, Chao, Song, Rui, Zhu, Wen-Hong, Leonhardt, Steffen, Al-Shuka, Hayder F. N., Li, Yibin
Format: Article
Language:English
Subjects:
Active control
Automation
Control stability
Control systems
Electrical impedance
End effectors
Human behavior
Impedance
International conferences
Mathematical analysis
Muscles
Parameters
Review
Robot arms
Robot dynamics
Robotics
Robots
Stiffness
System effectiveness
Tracking control
Velocity
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Summary:There are two main categories of force control schemes: hybrid position-force control and impedance control. However, the former does not take into account the dynamic interaction between the robot’s end effector and the environment. In contrast, impedance control includes regulation and stabilization of robot motion by creating a mathematical relationship between the interaction forces and the reference trajectories. It involves an energetic pair of a flow and an effort, instead of controlling a single position or a force. A mass-spring-damper impedance filter is generally used for safe interaction purposes. Tuning the parameters of the impedance filter is important and, if an unsuitable strategy is used, this can lead to unstable contact. Humans, however, have exceptionally effective control systems with advanced biological actuators. An individual can manipulate muscle stiffness to comply with the interaction forces. Accordingly, the parameters of the impedance filter should be time varying rather than value constant in order to match human behavior during interaction tasks. Therefore, this paper presents an overview of impedance control strategies including standard and extended control schemes. Standard controllers cover impedance and admittance architectures. Extended control schemes include admittance control with force tracking, variable impedance control, and impedance control of flexible joints. The categories of impedance control and their features and limitations are well introduced. Attention is paid to variable impedance control while considering the possible control schemes, the performance, stability, and the integration of constant compliant elements with the host robot.
ISSN:1176-2322
1754-2103
DOI:10.1155/2018/8203054