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Article
Publication date: 8 April 2021

Mohammad Javad Fotuhi and Zafer Bingul

This paper aims to develope a novel fractional hybrid impedance control (FHIC) approach for high-sensitive contact stress force tracking control of the series elastic…

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Abstract

Purpose

This paper aims to develope a novel fractional hybrid impedance control (FHIC) approach for high-sensitive contact stress force tracking control of the series elastic muscle-tendon actuator (SEM-TA) in uncertain environments.

Design/methodology/approach

In three different cases, the fractional parameters of the FHIC were optimized with the particle swarm optimization algorithm. Its adaptability to the pressure of the sole of the foot on real environments such as grass (soft), carpet (medium) and solid floors (hard) is far superior to traditional impedance control. The main aim of this paper is to derive the dynamic simulation models of the SEM-TA, to develop a control architecture allowing for high-sensitive contact stress force control in three cases and to verify the simulation models and the proposed controller with experimental results. The performance of the optimized controllers was evaluated according to these parameters, namely, maximum overshoot, steady-state error, settling time and root mean squared errors of the positions. Moreover, the frequency robustness analysis of the controllers was made in three cases.

Findings

Different simulations and experimental results were conducted to verify the control performance of the controllers. According to the comparative results of the performance, the responses of the proposed controller in simulation and experimental works are very similar.

Originality/value

Origin approach and origin experiment.

Details

Industrial Robot: the international journal of robotics research and application, vol. 48 no. 4
Type: Research Article
ISSN: 0143-991X

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