{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,15]],"date-time":"2026-01-15T12:53:16Z","timestamp":1768481596656,"version":"3.49.0"},"reference-count":33,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2020,2,3]],"date-time":"2020-02-03T00:00:00Z","timestamp":1580688000000},"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":[[2020,2,3]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>The purpose of this paper is to take transient contact force response, overshoots and steady-state force tracking error problems into account to form an excellent force controller.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>The basic impedance function with a pre-PID tuner is designed to improve the force response. A dynamic adaptive adjustment function that combines the advantages of hybrid impedance and adaptive hybrid impedance control is presented to achieve both force overshoots suppressing and tracking ability.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The introduced pre-PID tuner impedance function can achieve more than the pure impedance function in aspects of converging to the desired value and reducing the force overshoots. The performance of force overshoots suppression and force tracking error are maintained by introducing the dynamic adaptive sigma adjustment function. The simulation and experimental results both show the achieved control performance by comparing with the previous control methods.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Practical implications<\/jats:title>\n<jats:p>The implementation of the controller is easy and convenient in practical manufacture scenes that require force control using industrial robots.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>A superior robot controller adapting to a variety of complex tasks owing to the following characteristics: maintenance of high-accuracy position tracking capability in free-space (basic capabilities of modern industrial robots); maintenance of high speed, stability and smooth contact performance in collision stage; and presentation of high-precision force tracking capability in steady contact.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-09-2019-0191","type":"journal-article","created":{"date-parts":[[2020,2,7]],"date-time":"2020-02-07T06:09:41Z","timestamp":1581055781000},"page":"231-242","source":"Crossref","is-referenced-by-count":46,"title":["Smooth adaptive hybrid impedance control for robotic contact force tracking in dynamic environments"],"prefix":"10.1108","volume":"47","author":[{"given":"Hongli","family":"Cao","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ye","family":"He","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaoan","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xue","family":"Zhao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"key":"key2020032310361325400_ref001","doi-asserted-by":"crossref","first-page":"83162","DOI":"10.1109\/ACCESS.2019.2924696","article-title":"Dynamic adaptive hybrid impedance control for dynamic contact force tracking in uncertain environments","volume":"7","year":"2019","journal-title":"IEEE Access"},{"key":"key2020032310361325400_ref002","doi-asserted-by":"crossref","first-page":"391","DOI":"10.1016\/j.rcim.2018.12.019","article-title":"Contact force control and vibration suppression in robotic polishing with a smart end effector","volume":"57","year":"2019","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"issue":"1\/4","key":"key2020032310361325400_ref003","first-page":"461","article-title":"Robotic grinding of a blisk with two degrees of freedom contact force control","volume":"101","year":"2019","journal-title":"The International Journal of Advanced Manufacturing Technology"},{"issue":"5","key":"key2020032310361325400_ref004","doi-asserted-by":"crossref","first-page":"925","DOI":"10.1109\/TRO.2005.852261","article-title":"Contact impedance estimation for robotic systems","volume":"21","year":"2005","journal-title":"IEEE Transactions on Robotics"},{"key":"key2020032310361325400_ref005","doi-asserted-by":"crossref","first-page":"54","DOI":"10.1016\/j.robot.2018.01.009","article-title":"Adaptive variable impedance control for dynamic contact force tracking in uncertain environment","volume":"102","year":"2018","journal-title":"Robotics and Autonomous Systems"},{"issue":"1","key":"key2020032310361325400_ref006","doi-asserted-by":"crossref","first-page":"41","DOI":"10.1177\/0278364903022001004","article-title":"Contact stiffness and damping estimation for robotic systems","volume":"22","year":"2003","journal-title":"The International Journal of Robotics Research"},{"issue":"3","key":"key2020032310361325400_ref007","doi-asserted-by":"crossref","first-page":"1465","DOI":"10.1007\/s11071-012-0362-x","article-title":"Robust control of electrically driven robots by adaptive fuzzy estimation of uncertainty","volume":"69","year":"2012","journal-title":"Nonlinear Dynamics"},{"key":"key2020032310361325400_ref008","first-page":"4832","article-title":"Switched position-force tracking control of a manipulator interacting with a stiff environment","volume-title":"Proc. of American Control Conference (ACC)","year":"2015"},{"issue":"1","key":"key2020032310361325400_ref009","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1115\/1.3140702","article-title":"Impedance control: an approach to manipulation: part I \u2013 theory","volume":"107","year":"1985","journal-title":"Journal of Dynamic Systems, Measurement, and Control"},{"key":"key2020032310361325400_ref010","first-page":"1442","article-title":"Adaptive hybrid impedance control of robotic manipulators","volume-title":"Proc. of IEEE International Conference on Robotics and Automation (ICRA)","year":"2010"},{"issue":"1\/4","key":"key2020032310361325400_ref011","first-page":"1239","article-title":"Industrial robotic machining: a review","volume":"103","year":"2019","journal-title":"The International Journal of Advanced Manufacturing Technology"},{"issue":"3","key":"key2020032310361325400_ref012","doi-asserted-by":"crossref","first-page":"474","DOI":"10.1109\/TCST.2004.824320","article-title":"Force tracking impedance control of robot manipulators under unknown environment","volume":"12","year":"2004","journal-title":"IEEE Transactions on Control Systems Technology"},{"key":"key2020032310361325400_ref013","doi-asserted-by":"crossref","first-page":"99","DOI":"10.1016\/j.robot.2018.03.005","article-title":"Prescribed contact establishment of a robot with a planar surface under position and stiffness uncertainties","volume":"104","year":"2018","journal-title":"Robotics and Autonomous Systems"},{"issue":"11","key":"key2020032310361325400_ref014","doi-asserted-by":"crossref","first-page":"1421","DOI":"10.1177\/0278364918768950","article-title":"Admittance control for physical human\u2013robot interaction","volume":"37","year":"2018","journal-title":"The International Journal of Robotics Research"},{"issue":"1","key":"key2020032310361325400_ref015","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1109\/JRA.1987.1087068","article-title":"A unified approach for motion and force control of robot manipulators: the operational space formulation","volume":"3","year":"1987","journal-title":"IEEE Journal on Robotics and Automation"},{"key":"key2020032310361325400_ref016","first-page":"5203","article-title":"Force tracking impedance control with unknown environment at the microscale","volume-title":"Proc. of IEEE International Conference on Robotics and Automation (ICRA)","year":"2014"},{"key":"key2020032310361325400_ref017","first-page":"1846","article-title":"Adaptive hybrid impedance control of robot manipulators with robustness against environment\u2019s uncertainties","volume-title":"Proc. of IEEE International Conference on Mechatronics and Automation (ICMA)","year":"2016"},{"issue":"11","key":"key2020032310361325400_ref018","doi-asserted-by":"crossref","first-page":"1509","DOI":"10.1049\/iet-cta.2012.1032","article-title":"Neural networks impedance control of robots interacting with environments","volume":"7","year":"2013","journal-title":"IET Control Theory & Applications"},{"issue":"12","key":"key2020032310361325400_ref019","doi-asserted-by":"crossref","first-page":"9614","DOI":"10.1109\/TIE.2018.2821649","article-title":"Physical human\u2013robot interaction of a robotic exoskeleton by admittance control","volume":"65","year":"2018","journal-title":"IEEE Transactions on Industrial Electronics"},{"issue":"8","key":"key2020032310361325400_ref020","doi-asserted-by":"crossref","first-page":"2539","DOI":"10.3390\/s18082539","article-title":"Efficient force control learning system for industrial robots based on variable impedance control","volume":"18","year":"2018","journal-title":"Sensors"},{"key":"key2020032310361325400_ref021","first-page":"1854","article-title":"Environment estimation for enhanced impedance control","volume-title":"Proc. of IEEE International Conference on Robotics and Automation (ICRA)","year":"1995"},{"issue":"3","key":"key2020032310361325400_ref022","doi-asserted-by":"crossref","first-page":"225","DOI":"10.1177\/027836499501400303","article-title":"Robust impedance control and force regulation: theory and experiments","volume":"14","year":"1995","journal-title":"The International Journal of Robotics Research"},{"issue":"6","key":"key2020032310361325400_ref023","doi-asserted-by":"crossref","first-page":"418","DOI":"10.1109\/TSMC.1981.4308708","article-title":"Compliance and force control for computer controlled manipulators","volume":"11","year":"1981","journal-title":"IEEE Transactions on Systems, Man, and Cybernetics"},{"issue":"8","key":"key2020032310361325400_ref024","doi-asserted-by":"crossref","first-page":"6299","DOI":"10.1109\/TIE.2017.2682002","article-title":"Compliance-based robotic peg-in-hole assembly strategy without force feedback","volume":"64","year":"2017","journal-title":"IEEE Transactions on Industrial Electronics"},{"issue":"2","key":"key2020032310361325400_ref025","doi-asserted-by":"crossref","first-page":"126","DOI":"10.1115\/1.3139652","article-title":"Hybrid position\/force control of manipulators","volume":"103","year":"1981","journal-title":"Journal of Dynamic Systems, Measurement, and Control"},{"key":"key2020032310361325400_ref026","doi-asserted-by":"crossref","first-page":"142","DOI":"10.1016\/j.conengprac.2017.10.015","article-title":"High-accuracy robotized industrial assembly task control schema with force overshoots avoidance","volume":"71","year":"2018","journal-title":"Control Engineering Practice"},{"issue":"4","key":"key2020032310361325400_ref027","doi-asserted-by":"crossref","first-page":"1753","DOI":"10.1109\/TII.2017.2748236","article-title":"Iterative learning procedure with reinforcement for high-accuracy force tracking in robotized tasks","volume":"14","year":"2018","journal-title":"IEEE Transactions on Industrial Informatics"},{"key":"key2020032310361325400_ref028","first-page":"130","article-title":"Optimal impedance force-tracking control design with impact formulation for interaction tasks","year":"2016","journal-title":"IEEE Robotics and Automation Letters"},{"key":"key2020032310361325400_ref029","doi-asserted-by":"crossref","first-page":"20","DOI":"10.1016\/j.mechatronics.2018.05.008","article-title":"Fuzzy adaptive hybrid impedance control for mirror milling system","volume":"53","year":"2018","journal-title":"Mechatronics"},{"key":"key2020032310361325400_ref030","doi-asserted-by":"crossref","first-page":"115","DOI":"10.1016\/j.rcim.2018.05.003","article-title":"Adaptive robust control and admittance control for contact-driven robotic surface conditioning","volume":"54","year":"2018","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"key":"key2020032310361325400_ref031","first-page":"921","article-title":"Adaptive control of robotic deburring process based on impedance control","volume-title":"Proc. of IEEE International Conference on Industrial Informatics","year":"2006"},{"key":"key2020032310361325400_ref032","doi-asserted-by":"crossref","first-page":"158","DOI":"10.1016\/j.rcim.2017.12.004","article-title":"Sensorless and adaptive admittance control of industrial robot in physical human\u2013robot interaction","volume":"51","year":"2018","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"key":"key2020032310361325400_ref033","first-page":"888","article-title":"Force tracking with feed-forward motion estimation for beating heart surgery","volume-title":"Proc. of IEEE International Conference on Robotics and Automation (ICRA)","year":"2010"}],"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-09-2019-0191\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-09-2019-0191\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:39:55Z","timestamp":1753393195000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/47\/2\/231-242\/180892"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,2,3]]},"references-count":33,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2020,2,3]]}},"alternative-id":["10.1108\/IR-09-2019-0191"],"URL":"https:\/\/doi.org\/10.1108\/ir-09-2019-0191","relation":{},"ISSN":["0143-991X","0143-991X"],"issn-type":[{"value":"0143-991X","type":"print"},{"value":"0143-991X","type":"print"}],"subject":[],"published":{"date-parts":[[2020,2,3]]}}}