{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,5,9]],"date-time":"2024-05-09T00:24:47Z","timestamp":1715214287802},"reference-count":15,"publisher":"Emerald","issue":"3","license":[{"start":{"date-parts":[[2024,4,18]],"date-time":"2024-04-18T00:00:00Z","timestamp":1713398400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2024,5,9]]},"abstract":"Purpose<\/jats:title>\nThe purpose of this paper aims to investigate the adaptive impedance control and its optimized PSO algorithm for force tracking of a dual-arm cooperative robot. Because the dual-arm robot is directly in contact with external environment, controlling the mutual force between robot and external environment is of great importance. Besides, a high compliance of the robot should be guaranteed.<\/jats:p>\n<\/jats:sec>\nDesign\/methodology\/approach<\/jats:title>\nAn impedance control based on Particle Swarm Optimization (PSO) algorithm is designed to track the mutual force and achieve compliance control of the robot end.<\/jats:p>\n<\/jats:sec>\nFindings<\/jats:title>\nThe experimental results show that the impedance control coefficients can be automatically tuned converged by PSO algorithm.<\/jats:p>\n<\/jats:sec>\nOriginality\/value<\/jats:title>\nThe system can reach a steady state within 0.03\u2009s with overshoot convergence, and the force fluctuation range at the steady state decreases to about \u00b10.08\u2009N even under the force mutation condition.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-10-2023-0247","type":"journal-article","created":{"date-parts":[[2024,4,17]],"date-time":"2024-04-17T08:52:37Z","timestamp":1713343957000},"page":"436-445","source":"Crossref","is-referenced-by-count":0,"title":["Impedance control for force tracking of a dual-arm cooperative robot based on particle swarm optimization"],"prefix":"10.1108","volume":"51","author":[{"given":"Li","family":"Li","sequence":"first","affiliation":[]},{"given":"Tong","family":"Huang","sequence":"additional","affiliation":[]},{"given":"Chujia","family":"Pan","sequence":"additional","affiliation":[]},{"given":"J.F.","family":"Pan","sequence":"additional","affiliation":[]},{"given":"Wenbin","family":"Su","sequence":"additional","affiliation":[]}],"member":"140","published-online":{"date-parts":[[2024,4,18]]},"reference":[{"key":"key2024050812001905800_ref001","doi-asserted-by":"publisher","first-page":"2563","DOI":"10.1109\/ROBIO.2015.7419725","article-title":"Fuzzy backstepping control for dual-arm cooperative robot grasp","volume-title":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","year":"2015"},{"key":"key2024050812001905800_ref002","doi-asserted-by":"publisher","first-page":"2949","DOI":"10.1109\/IECON.2017.8216498","article-title":"Adaptive impedance based force and position control for pneumatic compliant system","volume-title":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","year":"2017"},{"issue":"5","key":"key2024050812001905800_ref003","doi-asserted-by":"publisher","first-page":"2261","DOI":"10.1109\/TMECH.2019.2934141","article-title":"Collision detection and coordinated compliance control for a dual-arm robot without force\/torque sensing based on momentum observer","volume":"24","year":"2019","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"issue":"4","key":"key2024050812001905800_ref004","doi-asserted-by":"publisher","first-page":"1398","DOI":"10.1109\/TCDS.2021.3132282","article-title":"The challenges and opportunities of Human-Centered AI for trustworthy robots and autonomous systems","volume":"14","year":"2022","journal-title":"IEEE Transactions on Cognitive and Developmental Systems"},{"key":"key2024050812001905800_ref005","doi-asserted-by":"crossref","first-page":"304","DOI":"10.23919\/ACC.1984.4788393","article-title":"Impedance control: an approach to manipulation [C]","volume-title":"1984 American Control Conference","year":"1984"},{"key":"key2024050812001905800_ref006","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/PESA55501.2022.10038356","article-title":"Admittance control of dual-arm cooperative platform","volume-title":"2022 IEEE 9th International Conference on Power Electronics Systems and Applications (PESA)","year":"2022"},{"key":"key2024050812001905800_ref007","doi-asserted-by":"publisher","first-page":"219","DOI":"10.23919\/ICCAS50221.2020.9268417","article-title":"Admittance force tracking control for position-controlled robot manipulators under unknown environment","volume-title":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","year":"2020"},{"key":"key2024050812001905800_ref008","doi-asserted-by":"publisher","first-page":"158","DOI":"10.23919\/SICE56594.2022.9905784","article-title":"Super twisting sliding mode Control-Based impedance control for robot arm End-Effector force tracking","volume-title":"2022 61st Annual Conference of the Society of Instrument and Control Engineers (SICE)","year":"2022"},{"key":"key2024050812001905800_ref009","article-title":"Design of a variable-gain adjacent cross-coupled controller for coordinated motion of multiple permanent magnet linear synchronous motors","volume":"192","year":"2022","journal-title":"Computers and Electronics in Agriculture"},{"key":"key2024050812001905800_ref010","doi-asserted-by":"publisher","first-page":"573","DOI":"10.1109\/IAEAC.2017.8054080","article-title":"Grid impedance estimation based on particle swarm optimization","volume-title":"2017 IEEE 2nd Advanced Information Technology, Electronic and Automation Control Conference (IAEAC)","year":"2017"},{"key":"key2024050812001905800_ref011","doi-asserted-by":"publisher","first-page":"458","DOI":"10.1109\/ICINFA.2008.4608043","article-title":"Impedance control and gain tuning of flexible base moving manipulators using PSO method","volume-title":"2008 International Conference on Information and Automation","year":"2008"},{"key":"key2024050812001905800_ref012","doi-asserted-by":"publisher","first-page":"290","DOI":"10.1109\/ITNEC52019.2021.9586992","article-title":"Research on contact force control of grinding robot based on adaptive impedance control","volume-title":"2021 IEEE 5th Information Technology, Networking, Electronic and Automation Control Conference (ITNEC)","year":"2021"},{"key":"key2024050812001905800_ref013","doi-asserted-by":"publisher","first-page":"84","DOI":"10.1109\/ICRAS52289.2021.9476431","article-title":"Research on robot contact force control based on adaptive impedance control","volume-title":"2021 5th International Conference on Robotics and Automation Sciences (ICRAS)","year":"2021"},{"issue":"6","key":"key2024050812001905800_ref014","doi-asserted-by":"crossref","first-page":"1858","DOI":"10.1109\/TBME.2022.3230784","article-title":"Spatiotemporal compliance control for a wearable lower limb rehabilitation robot","volume":"70","year":"2023","journal-title":"IEEE Transactions on Biomedical Engineering"},{"issue":"3","key":"key2024050812001905800_ref015","doi-asserted-by":"crossref","first-page":"904","DOI":"10.1007\/s11771-015-2600-0","article-title":"Leg compliance control of a hexapod robot based on improved adaptive control in different environments","volume":"22","year":"2015","journal-title":"Journal of Central South University"}],"container-title":["Industrial Robot: the international journal of robotics research and application"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-10-2023-0247\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-10-2023-0247\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,5,8]],"date-time":"2024-05-08T12:00:30Z","timestamp":1715169630000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-10-2023-0247\/full\/html"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,4,18]]},"references-count":15,"journal-issue":{"issue":"3","published-online":{"date-parts":[[2024,4,18]]},"published-print":{"date-parts":[[2024,5,9]]}},"alternative-id":["10.1108\/IR-10-2023-0247"],"URL":"https:\/\/doi.org\/10.1108\/ir-10-2023-0247","relation":{},"ISSN":["0143-991X","0143-991X"],"issn-type":[{"value":"0143-991X","type":"print"},{"value":"0143-991X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,4,18]]}}}