Aug 2026· 2026 IEEE International Conference on Mechatronics and Automation (ICMA)· pp. 1763-1768· 0 citations· 15 references
Abstract
This paper develops a contact-control scheme for multi-degree-of-freedom (DOF) robot arms that relies on dynamic impedance to jointly improve precision, stability, and robustness. Classical impedance controllers keep stiffness, damping, and inertia fixed, which limits how well they adapt as operating conditions change. Here an impedance model is built specifically around the end-effector, and position control is refined by adding force-based corrections to the desired position along the force- controlled axes. Dynamic impedance is realized by tying the impedance parameters to the joint angles and angular velocities, using the final value theorem together with quadratic-form transient-response analysis. The resulting method is validated in MATLAB/Simulink through wall-wiping simulations performed with a 6-DOF RPY-type robot.
This paper proposes a Robust Subsystem-based Impedance Model Predictive Control (RSI-MPC) framework for the task-space control of flexible manipulators. Controlling flexible-link manipulators poses significant challenges due to their distributed dynamics, structural vibrations, and sensitivity to external disturbances....
S. M. Tahamipour-Z., S. Yaqubi, J. Mattila· Conference on Control Techno...· 0 citations
A fuzzy adaptive impedance method is incorporated into the robot’s compliant control framework, and a dynamic feedforward trajectory-tracking controller is proposed based on the dynamic model, and its stability is verified using a Lyapunov function.
Fan Yang, Ming Hu, Jin-Fei Bian et al.· Machines· 0 citations
Supportive continuum robots (SCRs) enhance the load-bearing capability of an operative continuum robot by mechanically coupling it with a supportive arm. However, their passive stiffness is determined by the mechanical configuration and cannot be adjusted online for varying payloads or interaction forces. Active stiffn...
In response to the requirements for high-precision motion control and adaptive compliance in rehabilitation training and human-robot interaction scenarios, this paper proposes a hierarchical control strategy for a dual-motor-driven variable stiffness actuator (VSA), enabling coordinated control of position tracking and...
Jin-Liang Liu, Xiu-Long Wu, Yiqing Zheng et al.· International Conference on...· 0 citations
The space manipulator system needs to be autonomous to perform on-orbit operations such as satellite servicing, refueling, and active debris removal, especially the removal of non-cooperative space targets (NCSTs). The impact phase is the most critical, as the end effector must maintain stable contact with the NCST to...
Prasad N. Dal, Saurabh Chaudhary, S. Shah· 2026 IEEE International Conf...· 0 citations
This paper presents the design and modeling of a new 6-degrees-of-freedom (DOF) 12-legged parallel manipulator (PM). A vector method is adopted to establish the kinematics model of the PM. The dynamics model is then developed using the principle of virtual work and the pseudo-inverse. Under equivalent conditions, the m...
Yong-Zhi Chu, Hasiaoqier Han, Tian-Jiao Ma et al.· Advances in Computer and Mat...· 0 citations
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