Dynamic Feedforward-Based Fractional Order Impedance Control for Robot Manipulator
Impedance control is widely applied in contact force control for robot manipulators. The traditional impedance model is linear, and has limitations in describing the actual impedance force. In addition, time-varying and dynamic coupling characteristics pose critical challenges to high-speed and high...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-01-01
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| Series: | Fractal and Fractional |
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| Online Access: | https://www.mdpi.com/2504-3110/7/1/52 |
| _version_ | 1797442328127864832 |
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| author | Yixiao Ding Ying Luo Yangquan Chen |
| author_facet | Yixiao Ding Ying Luo Yangquan Chen |
| author_sort | Yixiao Ding |
| collection | DOAJ |
| description | Impedance control is widely applied in contact force control for robot manipulators. The traditional impedance model is linear, and has limitations in describing the actual impedance force. In addition, time-varying and dynamic coupling characteristics pose critical challenges to high-speed and high-precision impedance control. In this paper, a fractional order impedance controller (FOIC) is proposed for industrial robot manipulator control and a systematic FOIC parameters tuning strategy based on frequency-domain specifications is presented. In order to improve performance under dynamic disturbances, a dynamic feedforward-based fractional order impedance controller (DFF-FOIC) is further developed. The robot manipulator dynamics are investigated and the effectiveness of the DFF-FOIC is illustrated by simulation. Then, the DFF-FOIC is applied on a physical robot manipulator prototype. Our step force tracking test results show that the proposed FOIC has better control performance than an integer order impedance controller (IOIC), achieving a better step response with lower overshoot, less settling time, and smaller integral time absolute error (ITAE) than the IOIC under fair comparison conditions. |
| first_indexed | 2024-03-09T12:40:14Z |
| format | Article |
| id | doaj.art-d959d6eac32d4c6c95d555d78965db2b |
| institution | Directory Open Access Journal |
| issn | 2504-3110 |
| language | English |
| last_indexed | 2024-03-09T12:40:14Z |
| publishDate | 2023-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Fractal and Fractional |
| spelling | doaj.art-d959d6eac32d4c6c95d555d78965db2b2023-11-30T22:19:34ZengMDPI AGFractal and Fractional2504-31102023-01-01715210.3390/fractalfract7010052Dynamic Feedforward-Based Fractional Order Impedance Control for Robot ManipulatorYixiao Ding0Ying Luo1Yangquan Chen2School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaDepartment of Mechanical Engineering, School of Engineering, University of California, Merced, CA 95343, USAImpedance control is widely applied in contact force control for robot manipulators. The traditional impedance model is linear, and has limitations in describing the actual impedance force. In addition, time-varying and dynamic coupling characteristics pose critical challenges to high-speed and high-precision impedance control. In this paper, a fractional order impedance controller (FOIC) is proposed for industrial robot manipulator control and a systematic FOIC parameters tuning strategy based on frequency-domain specifications is presented. In order to improve performance under dynamic disturbances, a dynamic feedforward-based fractional order impedance controller (DFF-FOIC) is further developed. The robot manipulator dynamics are investigated and the effectiveness of the DFF-FOIC is illustrated by simulation. Then, the DFF-FOIC is applied on a physical robot manipulator prototype. Our step force tracking test results show that the proposed FOIC has better control performance than an integer order impedance controller (IOIC), achieving a better step response with lower overshoot, less settling time, and smaller integral time absolute error (ITAE) than the IOIC under fair comparison conditions.https://www.mdpi.com/2504-3110/7/1/52robot manipulatorfractional order impedance controldynamic feedforward control |
| spellingShingle | Yixiao Ding Ying Luo Yangquan Chen Dynamic Feedforward-Based Fractional Order Impedance Control for Robot Manipulator Fractal and Fractional robot manipulator fractional order impedance control dynamic feedforward control |
| title | Dynamic Feedforward-Based Fractional Order Impedance Control for Robot Manipulator |
| title_full | Dynamic Feedforward-Based Fractional Order Impedance Control for Robot Manipulator |
| title_fullStr | Dynamic Feedforward-Based Fractional Order Impedance Control for Robot Manipulator |
| title_full_unstemmed | Dynamic Feedforward-Based Fractional Order Impedance Control for Robot Manipulator |
| title_short | Dynamic Feedforward-Based Fractional Order Impedance Control for Robot Manipulator |
| title_sort | dynamic feedforward based fractional order impedance control for robot manipulator |
| topic | robot manipulator fractional order impedance control dynamic feedforward control |
| url | https://www.mdpi.com/2504-3110/7/1/52 |
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