Impedance control of three dimensional hybrid manipulator

• Published in: Journal of mechanical science and technology Vol. 34; no. 1; pp. 359 - 367
• Main Authors: Arora, Rashmi, Bera, Tarun K.
• Format: Journal Article
• Language: English
• Published: Seoul Korean Society of Mechanical Engineers 2020; Springer Nature B.V; 대한기계학회
• Subjects: Control; Controllers; Dynamical Systems; Engineering; Impedance; Industrial and Production Engineering; Manipulators; Mechanical Engineering; Original Article; Trajectory control; Vibration; 기계공학; Hybrid manipulator; Overwhelming controller; Amnesia; Trajectory; Impedance control
• ISSN: 1738-494X; 1976-3824
• DOI: 10.1007/s12206-019-1235-8

The hybrid manipulators are always found to be of great use in industries due to the major shortcoming of serial manipulators (lesser accuracy and heavy structure) and parallel manipulators (small workspace). Henceforth, a three-dimensional hybrid manipulator is presented in this paper and this hybrid manipulator connects two parallel manipulators in a serial arrangement. Afterwards, the theory of impedance control with some changes is applied for an operation on a three dimensional L-shaped path having some restrictions imposed on the interactive forces when the manipulator is interacting with an object in its environment along with an approach to eliminate amnesia i.e. difference between the actual trajectory and the command trajectory. The overwhelming controller is used between the actual system and the inverse controller. It is observed from the result that there is always some amnesia during force control and some time is provided before the next phase of force control to remove this difference in trajectory.