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Journal articles on the topic 'Contrôle en admittance'

Author: Grafiati

Published: 25 May 2024

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1

Yamamoto, Kaoru. "Synthesis of passive interconnections in mass chains achieving a scale-free performance." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 235, no. 9 (March 29, 2021): 1709–17. http://dx.doi.org/10.1177/09596518211004303.

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This article is concerned with the synthesis problem of passive mechanical admittances that connect masses in a chain. The mass chain is excited at one boundary point, and the admittances are designed to suppress the disturbance independent of the length of the chain. The scalar transfer functions from the disturbance to a given intermass displacement are studied. The disturbance rejection performance is optimised over a class of arbitrary positive real mechanical admittances. The resulting admittance is synthesised mechanically using springs, dampers, and inerters only.

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2

Kitsios, E. E., and R. F. Boucher. "The Dynamics of Vortex Amplifiers. Part 1: Analytical Model." Journal of Dynamic Systems, Measurement, and Control 107, no. 3 (September 1, 1985): 176–81. http://dx.doi.org/10.1115/1.3140717.

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A semi-empirical technique for the dynamic modeling of vortex amplifiers is demonstrated with reference to one particular vortex amplifier geometry. The model parameters are determined explicitly from the amplifier static characteristics and geometry except for two which are estimated from measurements of the amplifier’s dynamic response. The two are time constants associated with the chamber time delay and the vortex rotational inertia. The model is linearized about a working point and is presented in terms of an admittance matrix. The paper is continued in Part 2 where two of the amplifier’s transfer admittances are measured experimentally and compared with the model predictions.

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3

Xiong, Xiangming, and Xiaotian Li. "A Global Optimization Method to Determine the Complex Material Constants of Piezoelectric Bars in the Length Thickness Extensional Mode." Actuators 10, no. 8 (July 22, 2021): 169. http://dx.doi.org/10.3390/act10080169.

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Optimization methods have been used to determine the elastic, piezoelectric, and dielectric constants of piezoelectric materials from admittance or impedance measurements. The optimal material constants minimize the difference between the modeled and measured admittance or impedance spectra. In this paper, a global optimization method is proposed to calculate the optimal material constants of piezoelectric bars in the length thickness extensional mode. The algorithm is applied to a soft PZT and a hard PZT and is shown to be robust.

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Karnam, Murali, Philippe C. Cattin, Georg Rauter, and Nicolas Gerig. "Qualitative and quantitative assessment of admittance controllers for hand-guiding surgical robots." at - Automatisierungstechnik 71, no. 7 (July 1, 2023): 515–27. http://dx.doi.org/10.1515/auto-2023-0063.

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Abstract When using redundant medical robots for hand-guiding heavy endoscopic tools, admittance control allows a completely defined tool and robot null space motion control. Although not a novel concept, comparative studies that help to design and implement admittance control are missing. In a user study, we compared four admittance controllers: one zero-torque controller that used measured joint torques and three others differently mapping forces/torques measured at the handle to tool tip velocity. We found that two of the four controllers (Dynamic Mass and Integrated Mass) outperformed the others.

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Abdullahi, Auwalu Muhammad, Ado Haruna, and Ronnapee Chaichaowarat. "Hybrid Adaptive Impedance and Admittance Control Based on the Sensorless Estimation of Interaction Joint Torque for Exoskeletons: A Case Study of an Upper Limb Rehabilitation Robot." Journal of Sensor and Actuator Networks 13, no. 2 (March 28, 2024): 24. http://dx.doi.org/10.3390/jsan13020024.

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Physiotherapy is the treatment to recover a patient’s mobility and limb function after an injury, illness, or disability. Rehabilitation robots can be used to replace human physiotherapists. To ensure safety during robot physical therapy, the patient’s limb needs to be controlled to track a desired joint trajectory, and the torque due to interaction force/torque needs to be measured and regulated. Therefore, hybrid impedance and admittance with position control (HIPC) is required to track the trajectory and simultaneously regulate the contact torque. The literature describes two structures of HIPC: (1) a switched framework between admittance and impedance control operating in parallel (HIPCSW); and (2) a series connection between admittance and impedance control without switching. In this study, a hybrid adaptive impedance and position-based admittance control (HAIPC) in series is developed, which consists of a proportional derivative-based admittance position controller with gravitational torque compensation and an adaptive impedance controller. An extended state observer is used to estimate the interaction joint torque due to human stiff contact with the exoskeleton without the use of force/torque sensor, which is then used in the adaptive algorithm to update the stiffness and damping gains of the adaptive impedance controller. Simulation results obtained using MATLAB show that the proposed HAIPC significantly reduces the mean absolute values of the actuation torques (control inputs) required for the shoulder and elbow joints in comparison with HIPC and HIPCSW.

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Jiang, Jinlei, Jingjing Luo, Hongbo Wang, Xiuhong Tang, Fan Nian, and Lizhe Qi. "Force Tracking Control Method for Robotic Ultrasound Scanning System under Soft Uncertain Environment." Actuators 13, no. 2 (February 6, 2024): 62. http://dx.doi.org/10.3390/act13020062.

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Robotic ultrasound scanning has excellent potential to reduce physician workload, obtain higher-quality imaging, and reduce costs. However, the traditional admittance control strategy for robotics cannot meet the high-precision force control requirements for robots, which are critical for improving image quality and ensuring patient safety. In this study, an integral adaptive admittance control strategy is proposed for contact force control between an ultrasound probe and human skin to enhance the accuracy of force tracking. First, a robotic ultrasound scanning system is proposed, and the system’s overall workflow is introduced. Second, an adaptive admittance control strategy is designed to estimate the uncertain environmental information online, and the estimated parameters are used to modify the reference trajectory. On the basis of ensuring the stability of the system, an integral controller is then introduced to improve the steady-state response. Subsequently, the stability of the proposed strategy is analysed. In addition, a gravity compensation process is proposed to obtain the actual contact force. Finally, through a simulation analysis, the effectiveness of the strategy is discussed. Simultaneously, a series of experiments are carried out on the robotic ultrasound scanning system, and the results show that the strategy can successfully maintain a constant contact force under soft uncertain environments, which effectively improves the efficiency of scanning.

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7

Lin, Musong, Hongbo Wang, Jianye Niu, Yu Tian, Xincheng Wang, Guowei Liu, and Li Sun. "Adaptive Admittance Control Scheme with Virtual Reality Interaction for Robot-Assisted Lower Limb Strength Training." Machines 9, no. 11 (November 22, 2021): 301. http://dx.doi.org/10.3390/machines9110301.

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Muscle weakness is the primary impairment causing mobility difficulty among stroke survivors. Millions of people are unable to live normally because of mobility difficulty every year. Strength training is an effective method to improve lower extremity ability but is limited by the shortage of medical staff. Thus, this paper proposes a robot-assisted active training (RAAT) by an adaptive admittance control scheme with virtual reality interaction (AACVRI). AACVRI consists of a stiffness variable admittance controller, an adaptive controller, and virtual reality (VR) interactions. In order to provide human-robot reality interactions corresponding to virtual scenes, an admittance control law with variable stiffness term was developed to define the mechanics property of the end effector. The adaptive controller improves tracking performances by compensating interaction forces and dynamics model deviations. A virtual training environment including action following, event feedback, and competition mechanism is utilized for improving boring training experience and engaging users to maintain active state in cycling training. To verify controller performances and the feasibility of RAAT, experiments were conducted with eight subjects. Admittance control provides desired variable interactions along the trajectory. The robot responds to different virtual events by changing admittance parameters according to trigger feedbacks. Adaptive control ensures tracking errors at a low level. Subjects were maintained in active state during this strength training. Their physiological signals significantly increased, and interaction forces were at a high level. RAAT is a feasible approach for lower limb strength training, and users can independently complete high-quality active strength training under RAAT.

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8

Žlajpah, Leon, and Tadej Petrič. "Unified Virtual Guides Framework for Path Tracking Tasks." Robotica 38, no. 10 (July 26, 2019): 1807–23. http://dx.doi.org/10.1017/s0263574719000973.

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SUMMARYIn this paper, we propose a novel unified framework for virtual guides. The human–robot interaction is based on a virtual robot, which is controlled by the admittance control. The unified framework combines virtual guides, control of the dynamic behavior, and path tracking. Different virtual guides and active constraints can be realized by using dead-zones in the position part of the admittance controller. The proposed algorithm can act in a changing task space and allows selection of the tasks-space and redundant degrees-of-freedom during the task execution. The admittance control algorithm can be implemented either on a velocity or on acceleration level. The proposed framework has been validated by an experiment on a KUKA LWR robot performing the Buzz-Wire task.

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Faulring, Eric L., Kevin M. Lynch, J. Edward Colgate, and Michael A. Peshkin. "Haptic Display of Constrained Dynamic Systems via Admittance Displays." IEEE Transactions on Robotics 23, no. 1 (February 2007): 101–11. http://dx.doi.org/10.1109/tro.2006.886837.

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In the Cobotic Hand Controller, we have introduced an admittance display that can render very high impedances (up to its own structural stiffness). This is due to its use of infinitely variable transmissions. While admittance displays typically excel at rendering high impedances, the incorporation of infinitely variable transmissions in the Cobotic Hand Controller allows the stable display of a wide dynamic range, including low impedances. The existence of a display that excels at rendering high-impedance constraints, but has high-fidelity control of low impedances tangent to those constraints, has led us to describe an admittance control architecture not often examined in the haptics community. In this paper, we develop a comprehensive approach that enables rendering of rigid motion constraints while simultaneously preserving the physical integrity of the intended inertial dynamics tangent to those constraints. This is in contrast to conventional impedance-control algorithms that focus primarily on rendering reaction forces along contact normals with constraints. We present this algorithm here, which is general to all admittance displays, and report on its implementation with the Cobotic Hand Controller. We offer examples of rigid bodies and linkages subject to holonomic and/or nonholonomic constraints

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10

Liu, Qiujiang, Wanqi Zhang, Guotao Cao, Jingwei Liu, Jingjing Ye, Mingli Wu, and Shaobing Yang. "Influence of the Catenary Distributed Parameters on the Resonance Frequencies of Electric Railways Based on Quantitative Calculation and Field Tests." Energies 15, no. 10 (May 19, 2022): 3752. http://dx.doi.org/10.3390/en15103752.

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High-order harmonic resonance is a key issue in the traction power supply systems (TPSS) of electric railways for safe operation. The effective evaluation of the resonance frequency is critical for taking measures to suppress harmonic resonance. In this paper, the influence of the distributed parameters of traction networks on resonance frequencies based on accurate calculation is proposed. The quantitative assessments of the distributed impedance and admittance are investigated. Furthermore, the theoretical calculation is directly verified using field tests at a high voltage level equal to 25 kV. The results show that the resonance frequencies of the TPSS are mainly affected by the distributed parameters, including the self-admittance and self-impedance of the contact wires, and the self-admittance of the positive feeders. In addition, the admittance connected in parallel has a greater effect than the series-connected impedance. The calculation method is also adapted to TPSS connected to renewable energy.

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11

Li, Shengqing, Simin Huang, Weihua He, and Dong Zhang. "Admittance Remodeling Strategy of Grid-Connected Inverter Based on Improving GVF." Electronics 12, no. 9 (May 6, 2023): 2122. http://dx.doi.org/10.3390/electronics12092122.

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With the continuous enhancement of weak grid characteristics, the negative effects of grid voltage feedforward (GVF) and PLL on grid-connected inverters become more and more serious and are coupled. Therefore, it is difficult to effectively solve the system stability problem by only improving the PLL structure. Firstly, based on an improved phase-locked loop structure (CCF-PLL) with complex coefficient filter and considering the influence of GVF, the output admittance model of a grid-connected inverter is established. Through stability analysis, it is found that conventional GVF leads the total output admittance phase of the inverter, thus reducing the system stability margin under the weak grid. Then, an improved admittance remodeling strategy of the grid-connected inverter is proposed. An all-pass filter is introduced into the GVF loop to correct the phase of the total output admittance of the inverter, and the phase margin is used as the constraint to design the control parameters, which effectively improves the stability of the system under the weak grid. Finally, the simulation results show that, compared with traditional GVF, the proposed strategy can obviously improve the distortion of grid-connected current waveforms and improve system stability.

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12

Cavallo, G., M. van de Ruit, A. C. Schouten, J. W. van Wingerden, and J. Lataire. "Nonparametric Identification of Time-Varying Human Joint Admittance." IFAC-PapersOnLine 51, no. 15 (2018): 533–38. http://dx.doi.org/10.1016/j.ifacol.2018.09.209.

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13

Cousin, Christian A., Victor H. Duenas, Courtney A. Rouse, and Warren E. Dixon. "Admittance Control of Motorized Functional Electrical Stimulation Cycle." IFAC-PapersOnLine 51, no. 34 (2019): 272–77. http://dx.doi.org/10.1016/j.ifacol.2019.01.040.

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14

Chen, Yutao, Yahao Wang, Xuming Tang, Kai Wu, Shaolei Wu, Rui Guo, Yuliang Zhao, and Erbao Dong. "6-DOF Bilateral Teleoperation Hybrid Control System for Power Distribution Live-Line Operation Robot." Machines 11, no. 1 (December 20, 2022): 2. http://dx.doi.org/10.3390/machines11010002.

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In the master-slave heterogeneous teleoperation, the workspace of the slave manipulator is usually much larger than that of the master manipulator. This paper proposes a 6-DOF bilateral hybrid teleoperation control strategy to map the workspace of the manipulators without changing the operation accuracy. The hybrid control includes the admittance and force control based on the feedback of the force sensor at the end of the manipulator. The two control strategies switched autonomously through the positioning of the Sigma.7 handle in the workspace. Compared with the classic bilateral teleoperation control, it overcomes the limitation of pre-matching the workspace of the master and slave. When the tool contacts a rigid environment, the robot can make adaptive compensation through the admittance controller even if the operator has not responded. We conduct extensive experiments to evaluate the changes in displacement and velocity before and after the switching process and under different admittance controller parameters. Finally, teleoperation is applied to live-line operation in distribution networks. The experiment proved that the control strategy is more consistent with human operation habits and can improve assembly success rate and efficiency.

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15

Pawliuk, Peter, and Kent Nickerson. "Periodic switching circuit analysis using admittance matrices." IET Circuits, Devices & Systems 10, no. 4 (July 2016): 274–79. http://dx.doi.org/10.1049/iet-cds.2015.0226.

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16

Cordoni, Francesco, Luca Di Persio, and Riccardo Muradore. "A variable stochastic admittance control framework with energy tank." IFAC-PapersOnLine 53, no. 2 (2020): 9986–91. http://dx.doi.org/10.1016/j.ifacol.2020.12.2716.

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17

Du, Xu, Alexander Engelmann, Yuning Jiang, Timm Faulwasser, and Boris Houska. "Optimal Experiment Design for AC Power Systems Admittance Estimation." IFAC-PapersOnLine 53, no. 2 (2020): 13311–16. http://dx.doi.org/10.1016/j.ifacol.2020.12.163.

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18

Moualeu, Antonio, and Jun Ueda. "Parameter Optimization for Variable Admittance Control of Haptic Systems." IFAC-PapersOnLine 54, no. 20 (2021): 265–70. http://dx.doi.org/10.1016/j.ifacol.2021.11.185.

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19

Ketelhut, Maike, Melanie Kolditz, Fabian Göll, Bjoern Braunstein, Kirsten Albracht, and Dirk Abel. "Admittance Control of an Industrial Robot during Resistance Training." IFAC-PapersOnLine 52, no. 19 (2019): 223–28. http://dx.doi.org/10.1016/j.ifacol.2019.12.102.

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Bhoelai, Anand K., M. M. (René) van Paassen, David A. Abbink, and Max Mulder. "Design of Test Signals for Identification of Neuromuscular Admittance." IFAC-PapersOnLine 49, no. 19 (2016): 266–71. http://dx.doi.org/10.1016/j.ifacol.2016.10.544.

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21

Fonseca, D. S. B., Hugo R. P. Antunes, and Antonio J. Marques Cardoso. "Stator Inter-Turn Short-Circuits Fault Diagnostics in Three-Phase Line-Start Permanent Magnet Synchronous Motors Fed by Unbalanced Voltages." Machines 11, no. 7 (July 15, 2023): 744. http://dx.doi.org/10.3390/machines11070744.

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This paper addresses the diagnostics of stator faults in three-phase line-start permanent magnet synchronous motors. More traditional fault diagnostic methodologies are unable to properly diagnose stator inter-turn short-circuit faults in three-phase motors under unbalanced supply voltage conditions, since both conditions impact the fault indicators used for inter-turn short-circuit fault diagnostics in a similar way. In this paper, the relation between the symmetrical components of the three-phase quantities and the harmonic components of the Extended Park’s Vector Approach (EPVA) is established. It is proved that the negative component and the EPVA harmonic component at a frequency twice the supply frequency are directly related to the fault occurrence. It is also proved that the healthy motor negative impedance is constant and not load-dependent. Based on this, the negative impedance/admittance is indirectly analyzed, through the combined use of the Extended Park´s Vector Approach of both voltage and current, and is explored for the fault diagnostics. Experimental results, obtained for different load torques, unbalanced supply voltage values, and fault severity levels, show that inter-turn short-circuit fault diagnostics can be achieved even under unbalanced supply voltage conditions based on the analysis of the motor admittance, at a frequency twice the supply frequency, that is the negative sequence admittance.

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Bian, Feifei, Danmei Ren, Ruifeng Li, Peidong Liang, Ke Wang, and Lijun Zhao. "Dynamical system based variable admittance control for physical human-robot interaction." Industrial Robot: the international journal of robotics research and application 47, no. 4 (May 15, 2020): 623–35. http://dx.doi.org/10.1108/ir-12-2019-0258.

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Purpose The purpose of this paper is to enable robots to intelligently adapt their damping characteristics and motions in a reactive fashion toward human inputs and task requirements during physical human–robot interaction. Design/methodology/approach This paper exploits a combination of the dynamical system and the admittance model to create robot behaviors. The reference trajectories are generated by dynamical systems while the admittance control enables robots to compliantly follow the reference trajectories. To determine how control is divided between the two models, a collaborative arbitration algorithm is presented to change their contributions to the robot motion based on the contact forces. In addition, the authors investigate to model the robot’s impedance characteristics as a function of the task requirements and build a novel artificial damping field (ADF) to represent the virtual damping at arbitrary robot states. Findings The authors evaluate their methods through experiments on an UR10 robot. The result shows promising performances for the robot to achieve complex tasks in collaboration with human partners. Originality/value The proposed method extends the dynamical system approach with an admittance control law to allow a robot motion being adjusted in real time. Besides, the authors propose a novel ADF method to model the robot’s impedance characteristics as a function of the task requirements.

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23

Qian, Guochao, Qianggang Wang, Shun He, Weiju Dai, Nengqiao Wei, and Niancheng Zhou. "Harmonic Modeling and Analysis for Parallel 12-Pulse Rectifier under Unbalanced Voltage Condition in Frequency-Domain." Energies 15, no. 11 (May 26, 2022): 3946. http://dx.doi.org/10.3390/en15113946.

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This paper treats a parallel 12-pulse rectifier as the study subject. The influence of unbalanced terminal voltage, the triggering angle, as well as the commutation angle of a thyristor-controlled rectifier circuit are considered in switching functions. Then, a frequency-domain harmonic coupled admittance matrix under the effect of positive sequence and negative sequence voltages are proposed, respectively. With the integration of the above matrices, a harmonic coupled admittance matrix model of a parallel 12-pulse rectifier under unbalanced voltage is proposed. On this basis, a simplified harmonic model of a 12-pulse rectifier is established, which only considers the effect of major elements through analyzing the elements’ distribution and magnitude of the harmonic coupled admittance matrix, as well as the AC current harmonic producing mechanism. All the models proposed in this paper are verified with high accuracy through simulation in MATLAB/Simulink. The models proposed in this paper can be used to guide the selection of harmonic suppression measures and equipment.

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24

Yamane, Katsu. "Admittance Control With Unknown Location of Interaction." IEEE Robotics and Automation Letters 6, no. 2 (April 2021): 4079–86. http://dx.doi.org/10.1109/lra.2021.3067618.

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Li, Yalin, Shichang Han, Junlin Xiong, and Wenbo Wang. "Comfort-Oriented Semi-Active Suspension Configuration with Inerter-Based Network Synthesis." Actuators 12, no. 7 (July 16, 2023): 290. http://dx.doi.org/10.3390/act12070290.

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This paper presents a comfort-oriented semi-active suspension system composed of a network-synthesized passive section and a controllable section based on a semi-active inerter. Firstly, the semi-active suspension system is divided into a passive part and a controllable part. For the passive part, first-order and second-order robust positive real controllers are designed. The problem with H2 cost is considered, and the bilinear matrix inequalities (BMI) are solved using an iterative method to obtain two admittance functions. The admittance functions are physically realized as two mechanical networks composed of mechanical passive elements such as inerter, spring, and damper (ISD). Then, the parameters of these mechanical elements in those networks are optimized by Particle Swarm Optimization (PSO). Secondly, a semi-active inerter based on Sky-hook control is introduced for the semi-active part of the suspension system. Finally, the semi-active ISD suspension structure is verified by a quarter vehicle model. The simulation results show that the first-order and second-order suspension systems optimize the RMS of the spring mass acceleration by 14.2% and 23.9%, respectively, as compared to traditional suspension systems. Furthermore, frequency-domain analysis also shows that both suspension systems effectively reduce the value of spring mass acceleration in the low-frequency band.

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Whalley, R., H. Bartlett, and M. Ebrahimi. "Analytical solution of distributed-lumped parameter network models." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 211, no. 3 (May 1, 1997): 203–18. http://dx.doi.org/10.1243/0959651971539740.

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System models for distributed-lumped parameter processes are derived. Procedures leading to the Smith normal form and thereafter to the admittance matrix of these models are presented. General results for interconnected distributed-lumped parameter models are provided and a typical application study is included.

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27

Kristalny, Maxim, and Jang Ho Cho. "Admittance parameterization in linear networked bilateral teleoperation control." Automatica 124 (February 2021): 109357. http://dx.doi.org/10.1016/j.automatica.2020.109357.

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28

Zukowski, Pawel, Konrad Kierczynski, Paweł Okal, Przemyslaw Rogalski, Marek Zenker, Rafal Pajak, Pawel Molenda, Marek Szrot, and Tomasz N. Koltunowicz. "Research on Changes in the Phase Shift Angle and Admittance of the Cellulose–Bio-Oil Composite under the Influence of Increasing Moisture during the Long-Term Operation of Power Transformers." Energies 16, no. 23 (December 1, 2023): 7880. http://dx.doi.org/10.3390/en16237880.

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In this study, the temperature–frequency dependencies of the pressboard–bio-oil–water nanoparticle composite’s fundamental parameters—phase shift angle and admittance—were examined using the Frequency Domain Spectroscopy method. Measurements were conducted in a frequency range of 10−4 Hz to 5 × 103 Hz at temperatures ranging from 293.15 K to 343.15 K, with a step of 10 K. The temperature stabilization accuracy was less than ±0.05 K. A total of 15 Arrhenius plots were determined for various phase shift angle values, from which 15 values and the average activation energy of relaxation time were determined. Similarly, the values of the activation energy of admittance relaxation time and the activation energy of admittance were determined. It was established that all three average values are identical within the bounds of uncertainty. Based on 45 values, a generalized activation energy was determined, with a value of ΔW ≈ (1.032 ± 0.0196) eV. Using the generalized activation energy value, the phase shift angle curves determined for all temperatures were recalculated to a temperature of 293.15 K. It was found that after conversion, all curves perfectly overlap. A similar operation was carried out for the frequency dependencies of admittance. In this case, too, the recalculated dependencies perfectly match. This means that the shape of the frequency dependencies of the phase shift angle and admittance depends solely on the moisture content in the pressboard–bio-oil–water nanodrop composite. The position of the curves in doubly logarithmic coordinates depends only on temperature and is determined by the generalized activation energy Using the generalized activation energy determined in this study will allow for the development of accurate methods for estimating moisture content in cellulose insulation of power transformers containing bio-oil. This will contribute to the detection of critical moisture content, which is about 5% by weight, and to the elimination of the risk, associated with such a high moisture content, of catastrophic failure of power transformers.

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Banks, Christopher, Antonio Bono, and Samuel Coogan. "Physical Human-UAV Interaction with Commercial Drones using Admittance Control." IFAC-PapersOnLine 54, no. 20 (2021): 258–64. http://dx.doi.org/10.1016/j.ifacol.2021.11.184.

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30

Roy, Joyanta Kumar, and Bansari Deb Majumder. "Cross sensitivity of Ionic concentration on Admittance type measurement." International Journal on Smart Sensing and Intelligent Systems 7, no. 5 (2020): 1–5. http://dx.doi.org/10.21307/ijssis-2019-020.

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Boucher, R. F., and E. E. Kitsios. "The Dynamics of Vortex Amplifiers. Part 2: Dynamic Measurements and Comparison With Model Predictions." Journal of Dynamic Systems, Measurement, and Control 107, no. 3 (September 1, 1985): 182–86. http://dx.doi.org/10.1115/1.3140718.

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A general experimental procedure is described for determining the linearized transfer admittances of a vortex amplifier. Flow response at the ports to a measured pressure perturbation applied to any one of them was obtained by hot wire anemometer. Self and transfer admittances were determined using a dual channel spectrum analyzer. The difficulties involved in such experiments are discussed. Measurements at two working points compare well with those predicted by the theoretical model developed in Part 1 of this paper.

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32

Wang, Binrui, Jiqing Huang, Guoyang Shen, and Dijian Chen. "Design of admittance controller with sliding mode based on disturbance observer for elbow joint actuated by pneumatic muscles." Industrial Robot: the international journal of robotics research and application 47, no. 5 (May 20, 2020): 657–67. http://dx.doi.org/10.1108/ir-12-2019-0246.

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Purpose Active compliance control is the key technology for Tri-Co robots (coexisting–cooperative–cognitive robots) to interact with the environment and people. This study aims to make the robot arm shake hands compliantly with people; the paper proposed two closed-loop-compliant control schemes for the dynamic identification of cascade elbow joint. Design/methodology/approach The active compliance control strategy consists of inner and outer loops. The inner loop is the position control using sliding mode control with disturbance observer (SMCDO), in which a new saturation function is designed to replace the traditional signal function of sliding mode control (SMC) law so as to mitigate chatter. The outer loop is the admittance control to regulate the dynamic behaviours of the elbow joint, i.e. its impedance. The simulation is carried out to verify the performance of the proposed control scheme. Findings The results show that the chatter of traditional SMC can be effectively eliminated by using SMCDO with this saturation function. In addition, for the handshake task, the value of threshold force and elbow joint compliance is defined. Then, the threshold force tests, impact tests and elbow-joint compliance tests are carried out. The results show that, in the impedance model, the elbow joint compliance only depends on the stiffness parameters, not on the position control loop. Practical implications The effectiveness of the admittance control based on SMCDO can improve the adaptability of industrial manipulator in different working environments to some degree. Originality/value The admittance control with SMCDO completed trajectory tracking has higher accuracy than that based on SMC.

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33

Mishra, Aditya, and Raymond A. de Callafon. "Recursive Estimation of Three Phase Line Admittance in Electric Power Networks." IFAC-PapersOnLine 53, no. 2 (2020): 34–39. http://dx.doi.org/10.1016/j.ifacol.2020.12.040.

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Stubbs, Kimberly J., Brendon C. Allen, and Warren E. Dixon. "Admittance Control of a Teleoperated Motorized Functional Electrical Stimulation Rehabilitation Cycle." IFAC-PapersOnLine 53, no. 5 (2020): 250–55. http://dx.doi.org/10.1016/j.ifacol.2021.04.215.

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35

Newman, Wyatt S., and Yuandao Zhang. "Stable interaction control and coulomb friction compensation using natural admittance control." Journal of Robotic Systems 11, no. 1 (1994): 3–11. http://dx.doi.org/10.1002/rob.4620110103.

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Peer, A., and M. Buss. "A New Admittance-Type Haptic Interface for Bimanual Manipulations." IEEE/ASME Transactions on Mechatronics 13, no. 4 (August 2008): 416–28. http://dx.doi.org/10.1109/tmech.2008.2001690.

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Fernando, Heshan, Joshua A. Marshall, and Johan Larsson. "Iterative Learning-Based Admittance Control for Autonomous Excavation." Journal of Intelligent & Robotic Systems 96, no. 3-4 (February 7, 2019): 493–500. http://dx.doi.org/10.1007/s10846-019-00994-3.

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Pronker, A. J., D. A. Abbink, M. M. van Paassen, and M. Mulder. "Estimating driver time-varying neuromuscular admittance through LPV model and grip force." IFAC-PapersOnLine 50, no. 1 (July 2017): 14916–21. http://dx.doi.org/10.1016/j.ifacol.2017.08.2539.

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Li, Jianfeng, Wenpei Fan, Mingjie Dong, and Xi Rong. "Implementation of passive compliance training on a parallel ankle rehabilitation robot to enhance safety." Industrial Robot: the international journal of robotics research and application 47, no. 5 (May 11, 2020): 747–55. http://dx.doi.org/10.1108/ir-02-2020-0040.

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Purpose The purpose of this paper is to implement a passive compliance training strategy for our newly designed 2-UPS/RRR parallel ankle rehabilitation robot (PARR) to enhance its rehabilitation training safety. Design/methodology/approach First, a kinematic analysis of the PARR is introduced, and the mechanism ensures that the rotation centre of the ankle joint complex (AJC) coincides with robot’s rotation centre. Then, a passive compliance training strategy based on admittance control is described in detail and is implemented on our PARR. Findings Experiments involving healthy subjects were conducted, and the performance of trajectory tracking was quantitatively evaluated, with the results showing excellent compliance and trajectory tracking accuracy, which can ensure that a secondary injury to the AJC during passive rehabilitation training is avoided. The influence of different admittance parameters was also simulated and analysed, which can contribute to the development of adaptive parameter adjustment research. Originality/value The paper can be used to improve the effectiveness of ankle rehabilitation, to alleviate manual therapy problems in terms of labour intensiveness, precision and subjectivity and to ensure safety and comfort during rehabilitation sessions.

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Huo, Jun, Jian Huang, Xikai Tu, and Zhongzheng Fu. "Force sensorless admittance control of body weight support system." Advanced Robotics 35, no. 7 (January 21, 2021): 425–36. http://dx.doi.org/10.1080/01691864.2021.1875044.

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Sakai, Akira. "Admittance of Atomic and Molecular Junctions and Their Signal Transmission." Micromachines 9, no. 7 (June 25, 2018): 320. http://dx.doi.org/10.3390/mi9070320.

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Bascetta, Luca, Gianni Ferretti, Gianantonio Magnani, and Paolo Rocco. "Walk-through programming for robotic manipulators based on admittance control." Robotica 31, no. 7 (May 14, 2013): 1143–53. http://dx.doi.org/10.1017/s0263574713000404.

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SUMMARYThe present paper addresses the issues that should be covered in order to develop walk-through programming techniques (i.e. a manual guidance of the robot) in an industrial scenario. First, an exact formulation of the dynamics of the tool the human should feel when interacting with the robot is presented. Then, the paper discusses a way to implement such dynamics on an industrial robot equipped with an open robot control system and a wrist force/torque sensor, as well as the safety issues related to the walk-through programming. In particular, two strategies that make use of admittance control to constrain the robot motion are presented. One slows down the robot when the velocity of the tool centre point exceeds a specified safety limit, the other one limits the robot workspace by way of virtual safety surfaces. Experimental results on a COMAU Smart Six robot are presented, showing the performance of the walk-through programming system endowed with the two proposed safety strategies.

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Kang, Gitae, Hyun Seok Oh, Joon Kyue Seo, Uikyum Kim, and Hyouk Ryeol Choi. "Variable Admittance Control of Robot Manipulators Based on Human Intention." IEEE/ASME Transactions on Mechatronics 24, no. 3 (June 2019): 1023–32. http://dx.doi.org/10.1109/tmech.2019.2910237.

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Dao, Hoang Vu, and Kyoung Kwan Ahn. "Extended Sliding Mode Observer-Based Admittance Control for Hydraulic Robots." IEEE Robotics and Automation Letters 7, no. 2 (April 2022): 3992–99. http://dx.doi.org/10.1109/lra.2022.3147244.

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Li, Zhijun, Bo Huang, Zhifeng Ye, Mingdi Deng, and Chenguang Yang. "Physical Human–Robot Interaction of a Robotic Exoskeleton By Admittance Control." IEEE Transactions on Industrial Electronics 65, no. 12 (December 2018): 9614–24. http://dx.doi.org/10.1109/tie.2018.2821649.

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Schmid, Johannes D., Philipp Bauerschmidt, Caglar Gurbuz, Martin Eser, and Steffen Marburg. "Physics-informed neural networks for acoustic boundary admittance estimation." Mechanical Systems and Signal Processing 215 (June 2024): 111405. http://dx.doi.org/10.1016/j.ymssp.2024.111405.

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Bian, Feifei, Danmei Ren, Ruifeng Li, Peidong Liang, Ke Wang, and Lijun Zhao. "An extended DMP framework for robot learning and improving variable stiffness manipulation." Assembly Automation 40, no. 1 (April 15, 2019): 85–94. http://dx.doi.org/10.1108/aa-11-2018-0188.

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Purpose The purpose of this paper is to present a method which enables a robot to learn both motion skills and stiffness profiles from humans through kinesthetic human-robot cooperation. Design Methodology Approach Admittance control is applied to allow robot-compliant behaviors when following the reference trajectories. By extending the dynamical movement primitives (DMP) model, a new concept of DMP and stiffness primitives is introduced to encode a kinesthetic demonstration as a combination of trajectories and stiffness profiles, which are subsequently transferred to the robot. Electromyographic signals are extracted from a human’s upper limbs to obtain target stiffness profiles. By monitoring vibrations of the end-effector velocities, a stability observer is developed. The virtual damping coefficient of admittance controller is adjusted accordingly to eliminate the vibrations. Findings The performance of the proposed methods is evaluated experimentally. The result shows that the robot can perform tasks in a variable stiffness mode as like the human dose in the teaching phase. Originality Value DMP has been widely used as a teaching by demonstration method to represent movements of humans and robots. The proposed method extends the DMP framework to allow a robot to learn not only motion skills but also stiffness profiles. Additionally, the authors proposed a stability observer to eliminate vibrations when the robot is disturbed by environment.

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Triano, Ángel, Patricia Silveira, Jordi Verdú, Eloi Guerrero, and Pedro de Paco. "Phase Role in the Non-Uniformity of Main-Line Couplings in Asymmetric Extracted-Pole Inline Filters." Electronics 10, no. 24 (December 8, 2021): 3058. http://dx.doi.org/10.3390/electronics10243058.

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The use of classical symmetrical polynomial definition to synthesize fully canonical inline filters with an asymmetrical distribution of the transmission zeros along the topology leads to the occurrence of uneven admittance inverter in the main-line. This form introduces some limitations to transform such topology into a ladder network. Despite circuital transformation can be used to accommodate both technology and topology, it is usual that extra reactive elements are necessary to implement phase shifts required to achieve the complete synthesis. This article introduces a novel method able to determine the required phase correction that has to be applied to the characteristic polynomials in order to equalize all the admittance inverters in the main path to the same value. It has been demonstrated that a suitable pair of phase values can be accurately estimated using a developed hyperbolic model which can be obtained from the transmission and reflection scattering parameters. To experimentally validate the proposed method, a Ladder-type filter with asymmetrical polynomial definition has been synthesized, fabricated, and measured, demonstrating the effectiveness of the developed solution.

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Feng, Guoli, Zhihao Ye, Yihui Xia, Heng Nian, and Yunxiang Jiang. "Oscillation Suppression Strategy of Three-Phase Four-Wire Grid-Connected Inverter in Weak Power Grid." Electronics 12, no. 14 (July 17, 2023): 3105. http://dx.doi.org/10.3390/electronics12143105.

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As the penetration of renewable energy increases year by year, the risk of high-frequency oscillation instability increases when a three-phase, four-wire split capacitor inverter (TFSCI) is connected to the grid with complementary capacitors in weak grids. Compared to the three-phase, three-wire inverter, the TFSCI has an additional zero-sequence current loop. To improve the accuracy of the modeling and stability analysis, the effect of the zero-sequence loop needs to be considered in the impedance-based stability analysis. Therefore, a correlation model considering multi-perturbation variables is first established, based on which the inverter positive, negative, and zero sequence admittance models are derived, solving the difficult problem of impedance modeling under small perturbations. Secondly, an admittance remodeling strategy based on a negative third-order differential element and a second-order generalized integrator (SOGI) damping controller is proposed, which can improve the stability of positive, negative, and zero-sequence systems simultaneously. Finally, the effectiveness of the oscillation suppression strategy is verified by simulation and experiment.

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Sainz, Luis, Lluis Monjo, Marc Cheah-Mane, Jun Liang, Oriol Gomis-Bellmunt, and Eduardo Prieto-Araujo. "Admittance study of grid-connected VSCs for harmonic oscillatory instabilities." IET Generation, Transmission & Distribution 13, no. 18 (September 17, 2019): 4049–60. http://dx.doi.org/10.1049/iet-gtd.2019.0321.

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