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Impedance Control and Admittance Control
ที่มาคำว่า impedance และ admittance เป็นค่าความต้านทานไฟฟ้า
อิมพิแดนซ์คืออะไร (ตอนที่ 1 ทำไมต้องมีอิมพิแดนซ์ด้วย มีแค่ความต้านทานไม่พอหรือ)
Maxon Motor – Impedance Control in Robotics
Lecture
Robotics 2 – Hybrid Force/Motion Control – Part 1
Impedance Control of Robot Motion
Lecture / playlist: Northwestern Robotics
Programming
Impedance Control for a 2-Link Robot Arm – User-interactive
Impedance Control for a 2-Link Robot Arm – User-Interactive
https://www.youtube.com/watch?v=cmW7pRLut8A
Research
Impedance Control: Planning or Learning? by Antonio Bicchi
Prof. Alessandro De Luca at Sapienza University of Rom
ehttps://www.youtube.com/watch?v=XwiX2vv14Qs
Admittance Control Simulation in Simulink:
https://github.com/mincasurong/Admittance-Control-Simulink
Admittance Control of Multi-DOF Manipulators Considering Joint Flexibility via Hierarchical Control:
https://www.youtube.com/watch?v=G5YJhZ_ncXo
Liang Ding: A professor at the State Key Laboratory of Robotics and System, Harbin Institute of Technology, with research interests in robotics and control systems.
Hongjun Xing: An associate professor of Astronautics at Nanjing University of Aeronautics and Astronautics, focusing on telerobotics, mobile manipulation, and compliance control.
GOOGLE SCHOLAR
Ali Torabi: A robotics engineer at Weir Motion Metrics, with contributions to robotics and automation.
GOOGLE SCHOLAR
Mahdi Tavakoli: A professor of Electrical and Computer Engineering at the University of Alberta, specializing in telerobotics and biorobotics.
“An admittance-controlled wheeled mobile manipulator for mobility assistance: Human–robot interaction estimation and redundancy resolution for enhanced force exertion ability” by H. Xing et al. This paper explores admittance control in mobile manipulators, focusing on human-robot interaction and force exertion capabilities.
https://scholar.google.com/citations?user=4Wpqd8UAAAAJ
“Enhancement of force exertion capability of a mobile manipulator by kinematic reconfiguration” by H. Xing et al. The study discusses improving force exertion in mobile manipulators through kinematic adjustments.
https://scholar.google.com/citations?user=4Wpqd8UAAAAJ
Admittance Control of Multi-DOF Manipulators Considering Joint Flexibility via Hierarchical Control: This video demonstrates the application of admittance control on multi-DOF manipulators, addressing challenges like joint flexibility.
https://www.youtube.com/watch?v=G5YJhZ_ncXo
Adaptive Neural Trajectory Tracking Control for Flexible-Joint Robots with Online Learning: This research presents an adaptive neural control approach for flexible-joint robots, which may offer insights into handling joint flexibility in control systems.
https://arxiv.org/abs/2003.05426
