Hogan, N., 1985, Impedance control: an approach to manipulation, Part I, Part II, Part III, Transactions of the ASME, Journal of Dynamic Systems, Measurement, and Control, pp. 1--24.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....(e.g. assembly tasks) Coupled with compliant motion strategies, force control enables the robot to perform contact tasks more safely and reliably, overcoming stability problems and small uncertainties in position. Various force control techniques have been proposed, including impedance control [28], stiffness control [57] and hybrid position force control [56] Whitney provides an interesting historical review of force control methods, as well as unsolved issues [75] The hybrid position force control method has become one of the most widely used control strategies for robotic ....

N. Hogan, "Impedance control: An approach to manipulation," Journal of Dynamic Systems, Measurement, and Control, vol. 107, pp. 1--24, March 1985.

....task (piston into a motor block) is described. 1 Introduction Applications in which a robot s end e#ector interacts with the environment require a suitable compliant behavior to be implemented in Cartesian space. A well established framework to manage this task is given by impedance control [8]. The aim of an impedance controller is to establish a mass damper spring relationship between the Cartesian position #x and the Cartesian force f : f = M#x D k # x K k #x, 1) where M , D k and K k are positive definite matrices representing the virtual inertia, damping and sti# ness of the ....

N. Hogan. Impedance control: An approach to manipulation, part I - theory, part II - implementation, part III - applications. Journ. of Dyn. Systems, Measurement and Control, 107:1--24, 1985.

....et al. 9] and McCarragher [8] Also, Tarn et al. 14] considers the dynamics of gain and loss of contact in depth. Work in the field of force control tends to concentrate on low level details of the control task, and as such has had limited success despite significant effort. In 1985, Hogan [5] developed impedance control for the manipulation of objects constrained by the environment and since then, a great deal of research has been conducted into a number of variants of force control. In prior works [1, 2] the authors presented a discrete event controller synthesis methodology for ....

N. Hogan. Impedance control: An approach to manipulation, parts i, ii and iii. Journal of Dynamic Systems, Measurement and Control, 107:1-24, March 1985.

....National University. considerable advantages of hybrid force velocity con trol. Automated assembly is a natural application of robotics and has been studied for many years. O Connor et al. 7] studied the identification and clas sification of errors in automated assembly processes. Hogan [2] developed impedance control for the ma nipulation of objects constrained by the environment. Raibert and Craig [8] developed a controller which uses both position and force control for the manipulation of constrained objects. The concept of using position and force control simultaneously has ....

N. Hogan. Impedance control: An approach to manipulation, parts i, ii and iii. Journal of Dynamic Systems, Measurement and Control, 107:1-24, March 1985.

....systems are common in the field of robotics. For example, walking machines, robot manipulators performing assembly or grinding tasks, and robotic hands grasping objects are all constrained motion systems. A great deal of research has been conducted in the field of constrained motion systems. Hogan [3] developed impedance control for the manipulation of objects constrained by the environment. Mason [6] and Raibert and Craig [10] developed controllers which use both position and force control for the manipulation of constrained objects. The concept of using position and force control ....

N. Hogan. Impedance control: An approach to manipulation, parts i, ii and iii. Journal of Dynamic Systems, Measurement and Control, 107:1-24, March 1985.

....for many years. In particular, O Connor et al. [8] studied the identifica tion and classification of errors in automated assembly processes. Assembly is a special type of constrained motion system and a great deal of research has been conducted in the field of constrained motion systems. Hogan [4] developed impedance control for the ma nipulation of objects constrained by the environment. Mason [6] and Raibert and Craig [11] developed con trollers which use both position and force control for the manipulation of constrained objects. The concept of using position and force control ....

N. Hogan. Impedance control: An approach to manipu- lation, parts i, ii and iii. Journal of Dynamic Systems, Measurement and Control, 107:1-24, March 1985.

....Whenever a robotic manipulator is supposed to get in contact with its environment in order to perform some manipulation tasks, a compliant behaviour of the manipulator is desired. The achievement of such a compliant behaviour by control therefore got a classical problem in robotics research [3]. For the case of a manipulator with rigid joints, various approaches to this problem have been studied in the literature and led to control techniques such as impedance control, admittance control or stiffness control. Compared to this, only little work has been spent on the compliant control ....

N. Hogan. Impedance control: An approach to manipulation, part I - theory, part II - implementation, part III - applications. Journ. of Dyn. Systems, Measurement and Control, 107:1--24, 1985.

....cylindrical peg in hole situation. O Connor et al. [9] studied the identifica tion and classification of errors in automated assembly processes. Assembly is a special type of constrained motion system and a great deal of research has been conducted in the field of constrained motion systems. Hogan [4] developed impedance control for the ma nipulation of objects constrained by the environment. Mason [6] and Raibert and Craig [11] developed con trollers which use both position and force control for the manipulation of constrained objects. The concept of using position and force control ....

N. Hogan. Impedance control: An approach to manipu- lation, parts i, ii and iii. Journal of Dynamic Systems, Measurement and Control, 107:1-24, March 1985.

....is not suitable for real time navigation of mobile robots. Another approach to dynamic obstacle avoidance is to introduce artificial po tential fields that attract the robot to the goal and repulse the robot from obstacles. This approach is represented by the work of Khatib [10] Hogan [11] Krogh [12] 13] Newman and Hogan [14] and Volpe and Khosla [15] Although the potential field approach is attractive for steering omnidirectional wheelbases, it is not clear how the approach can be extended when there are nonholonomic constraints on the system, as is the case for the ....

....planner, map generator, navi gator, and the servocontroller. The servocontroller is to satisfice: to decide on and pursue a course of action that will satisfy the minimum requirements neccssary to achieve a particular goal. Supplement to the Oxford English Dictionary, 1982) 0018 9472 90 1100 1383501.00 1990 IEEE 1384 IFFF TRANSA TION ON SY 4TFMS; MAN, AND (BERNETI( S. x Of. 20, NO. 6, NOVEMBER DECEMBER 1990 rl E . Snap Shot I m I Fig. 1. Structure of the conlrol navigaIion system for an AMR. designed to track reference trajectories with a known accuracy, provided the ....

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N. Hogan, "Impedance control: An approach to manipulation," J. Dyn. Svst Measurement Contr.. vol. 107, pp. I 24, Mar. 1985.

....of these controllers are learned. This approach can reduce the size of state and action spaces. Moreover, state information can be augmented with control context, and is well suited to learning in a dynamic environment. 3 Impedance Control 3. 1 One Impedance Controller An impedance control [6] design is shown in Figure 1. This is a single controller with parameters K, B, X 0 , and v T . The controller tracks reference path p using proportional and derivative feedback. Force is applied to a virtual control point P (x p , y p ) Point T (x t , y t ) is the reference point and is the ....

N. Hogan. Impedance control: An approach to manipulation. In Proceedings of the American Control Conference, pages 304--313, 1984.

....deceleration forces that ensure a safe contact velocity at the surface. Once stable contact has been established, force control of the manipulator may begin. 7. 3 Attributes of Artificial Potentials The major interest in artificial potential models has been in realizing obstacle avoidance schemes [35, 33, 48, 21, 65]. These schemes require the addition of attractive and repulsive potentials. An attractive potential well is generally a bowl shaped energy well which drives the manipulator to its center if the environment is unobstructed. However, in an obstructed environment, repulsive potential energy hills ....

N. Hogan. Impedance control: An approach to manipulation. Journal of Dynamic Systems, Measurement, and Control, 107:1-24, March 1985.

....can cause instability. Various schemes have been devised which incorporate sensor information to achieve improved endpoint position and force control without introducing the system instabilities [12, 16] Impedance control employs a dynamic model to create equations of motion of a manipulator [7]. When contact force feedback is incorporated in the model, force control can be achieved. The advantage of impedance control is its stability and applicability during the entire contact control task. However, this leads to large position errors. In this study hybrid control was developed. Two ....

Hogan, N., "Impedance Control: An Approach to Manipulation," Proceedings of the American Control Conference, pp. 304-13, June 1984

....only of the interaction forces are termed explicit force controllers [Nevins and Whitney 73] Other methods use both force information and position or velocity information to control force. These methods include stiffness control [Salisbury 80] damping control [Whitney 77] and impedance control [Hogan 84] All of these methods use force information to alter position or velocity loops. Hybrid control [Raibert and Craig 81] resolves the robot path into directions of either pure force control or pure position control. All of these schemes are reviewed in [Whitney 85] The approach in this thesis is ....

....than the actual mass, the manipulator became unstable against a stiff environment. The CHAPTER 3. WAM CONTROL 31 Figure 3. 1: A Simple Robot Compliance Control Task effects of force feedback and the difficulty of force feedback stabilization can best be understood in the framework presented in [Hogan 84] 3.2.1 Impedance Control A requirement of whole arm manipulation is the ability to do work on the environment. This implies that along any direction in which work will be performed both velocity and Figure 3.2: Bond Graph Equivalent Network for Robot Compliance Control CHAPTER 3. WAM CONTROL ....

Hogan, N., "Impedance Control: An Approach to Manipulation, " ASME Journal of Dynamic Systems, Measurement, and Control, March 1985, vol. 107, pp1-24.

....we designed the primitives by hand. Initially, we implemented two versions of the spinal fields described above. One closely modeled the frog data, and used a joint space representation, i.e. it controlled individual joints. The other used another biologically inspired approach, impedance control (Hogan 1985), which operates in the external coordinate frame, in our case the humanoid s hands. Our impedance motor controller applied forces at the hands and dragged the rest of the arm along. We also used a default posture for the arm, which provided naturalappearing whole arm movements that reached the ....

Hogan, N. (1985), `Impedance Control: An Approach to Manipulation', Journal of Dynamic Systems, Measurement, and Control 107, 1--24.

....steering has been proposed for robots by Kazerooni et al. ( 3 8] Kosuge et al. ( Kosuge, 1993 #870; Kosuge, 1993 #871; Kosuge, 1997 #875; Kosuge, #1285] have looked at cooperative tasks. Several authors have proposed schemes suitable for cooperative tasks including impedance control strategies ([10], 11] fuzzy and neural networks ( 12] etc. Generation of task sequences has been found to be an easier problem, and a large body of work is available on this ( 13] 14] 15 17] Assembly environments have also seen applications of systems and frameworks for flexible automation. Among the ....

N. Hogan, "Impedance control: An approach to manipulation," ASME Journal of Dynamic Systems Measurement and Control, vol. 107, pp. 1--7, 1985.

....due to the haptic interaction is computed by a lumped spring model, where k p is the position gain and d penetration is the penetration distance between the haptic device and the virtual object. Pull operation: For the pull operation, I GMS uses an impedance controller approach introduced by [5]. The impedance controller calculates the force f from the virtual spring and damper. In particular, the virtual force f is computed by attaching a virtual spring and damper from the end e ector position (X endeff ) to the PHANToM position (X ph ) as in Equation (4) F = k(Xph Xendeff ) b( Xph ....

N. Hogan. Impedance control: An approach to manipulation. Journal of Dynamics Systems, Measurement, and Control, 107:1-24, 1985.

....compliance matrix may reflect a specific impedance control strategy. However, a fundamental conjecture underlying impedance control is that it should be impossible through physical interaction with a machine to distinguish between the hardware and software contributions to its apparent behavior (Hogan 1985). In particular this conjecture applies to our weighted pseudoinverse which has been derived as the differential equation governing the passive displacement of 11 a physical system. We have succeeded in demonstrating that our weighted pseudoinverse is integrable within any simply connected ....

....of the joint compliance throughout the workspace, i.e. by including the correction matrix as an effective component of the joint impedance instead of as a compensation for non linear kinematics. In this context, the planning of inverse kinematics becomes a subset of impedance control (Hogan 1980; Hogan 1985): given a single task, different kinematic patterns can be generated by selecting different joint compliance functions. ....

Hogan, N. 1985. Impedance Control: an Approach to Manipulation. Parts I-III. ASME J. of Dyn. Sys. 17 Meas. and Control. 107(1):1-24.

No context found.

Hogan, N., 1985, Impedance control: an approach to manipulation, Part I, Part II, Part III, Transactions of the ASME, Journal of Dynamic Systems, Measurement, and Control, pp. 1--24.

No context found.

Hogan, N., 1985, Impedance control: an approach to manipulation, Part I, Part II, Part III, Transactions of the ASME, Journal of Dynamic Systems, Measurement, and Control, pp. 1--24.

No context found.

Hogan N Mar 1985 Impedance Control: An Approach to Manipulation. ASME Journal of Dynamic Systems, Measurement, and Control 107:1-7.

No context found.

N. Hogan. Impedance control: An approach to manipulation, part I - theory, part II - implementation, part III - applications. Journ. of Dyn. Systems, Measurement and Control, 107:1--24, 1985.

No context found.

N. Hogan. Impedance control: An approach to manipulation, part I - theory, part II - implementation, part III - applications. Journ. of Dyn. Systems, Measurement and Control, 107:1--24, 1985.

No context found.

N. Hogan. Impedance control: an approach to manipulation. Journal of Dynamic Systems, Measurement, and Control, 107:1--24, 1985.

No context found.

N. Hogan. Impedance control: an approach to manipulation. Journal of dynamic systems, measurement, and control, 107:1--24, March 1985.

No context found.

Hogan N., "Impedance Control: An Approach to Manipulation," Transactions of the ASME, Journal of Dynamic Systems, Measurement and Control, 107, 1-24, 1985.

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