{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,25]],"date-time":"2026-06-25T15:59:06Z","timestamp":1782403146392,"version":"3.54.5"},"reference-count":23,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2018,2,12]],"date-time":"2018-02-12T00:00:00Z","timestamp":1518393600000},"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":[[2018,4,9]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This paper aims to present a smooth transition adaptive hybrid impedance control for compliant connector assembly.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>The dynamics of the manipulator is firstly presented with linear property. The controller used in connector assembly is inspired by human operation habits in similar tasks. The hybrid impedance control is adopted to apply force in the assembly direction and provide compliance in rest directions. The reference trajectory is implemented with an adaptive controller. Event-based switching strategy is conducted for a smooth transition from unconstrained to constrained space.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The method can ensure both ideal compliance behaviour with dynamic uncertainty and a smooth transition from unconstrained to constrained space. Also, the method can ensure compliant connector assembly with a good tolerance to the target estimation error.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Practical implications<\/jats:title>\n<jats:p>The method can be applied in the connector assembly by \u201cpushing\u201d operation. The controller devotes efforts on force tracking and smooth transition, having potential applications in contact tasks in delicate environment.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>As far as the authors know, the paper is original in providing a uniform controller for improving force and position control performance in both unconstrained and constrained space with dynamic uncertainty. The proposed controller can ensure a smooth transition by only adjusting parameters.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-11-2017-0193","type":"journal-article","created":{"date-parts":[[2018,6,12]],"date-time":"2018-06-12T03:57:32Z","timestamp":1528775852000},"page":"287-299","source":"Crossref","is-referenced-by-count":8,"title":["Smooth transition adaptive hybrid impedance control for connector assembly"],"prefix":"10.1108","volume":"45","author":[{"given":"Jun","family":"Wu","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fenglei","family":"Ni","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuanfei","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shaowei","family":"Fan","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qi","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiayuan","family":"Lu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hong","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"140","published-online":{"date-parts":[[2018,2,12]]},"reference":[{"key":"key2021041507282828900_ref001","first-page":"1","article-title":"Smooth transition from motion to force control in robotic manipulation using vision","year":"2006"},{"key":"key2021041507282828900_ref002","first-page":"618","article-title":"Model-based adaptive hybrid control for geometrically constrained robots","year":"1993"},{"key":"key2021041507282828900_ref003","first-page":"2966","article-title":"Hybrid position\/force sliding mode control of a class of robotic manipulators","year":"2009"},{"issue":"2","key":"key2021041507282828900_ref004","doi-asserted-by":"crossref","first-page":"613","DOI":"10.1109\/TMECH.2015.2465849","article-title":"A review of algorithms for compliant control of stiff and fixed-compliance robots","volume":"21","year":"2016","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"issue":"1","key":"key2021041507282828900_ref005","doi-asserted-by":"crossref","first-page":"21","DOI":"10.1108\/IR-03-2016-0098","article-title":"Improved parameter optimization method for complex assembly process in robotic manufacturing","volume":"44","year":"2017","journal-title":"Industrial Robot: An International Journal"},{"key":"key2021041507282828900_ref006","first-page":"5187","article-title":"A novel strategy for smooth force-position switching control of micropositioning piezoelectric actuators","year":"2016"},{"issue":"1","key":"key2021041507282828900_ref007","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1115\/1.3140702","article-title":"Impedance control \u2013 an approach to manipulation. 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