{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,14]],"date-time":"2026-03-14T19:27:24Z","timestamp":1773516444619,"version":"3.50.1"},"reference-count":23,"publisher":"SAGE Publications","issue":"7","license":[{"start":{"date-parts":[[2017,2,1]],"date-time":"2017-02-01T00:00:00Z","timestamp":1485907200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["SIMULATION"],"published-print":{"date-parts":[[2017,7]]},"abstract":"<jats:p> A hybrid impedance control scheme for the force and position control of an end-effector is presented in this paper. The interaction of the end-effector is controlled using a passive foundation with compensation gain. For obtaining the steady state, a proportional\u2013integral\u2013derivative controller is tuned with an impedance controller. The hybrid impedance controller is implemented on a terrestrial (ground) single-arm robot manipulator. The modeling is done by creating a bond graph model and efficacy is substantiated through simulation results. Further, the hybrid impedance control scheme is applied on a two-link flexible arm underwater robot manipulator for welding applications. Underwater conditions, such as hydrodynamic forces, buoyancy forces, and other disturbances, are considered in the modeling. During interaction, the minimum distance from the virtual wall is maintained. A simulation study is carried out, which reveals some effective stability of the system. <\/jats:p>","DOI":"10.1177\/0037549717693687","type":"journal-article","created":{"date-parts":[[2017,2,27]],"date-time":"2017-02-27T10:42:18Z","timestamp":1488192138000},"page":"619-630","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":9,"title":["A hybrid impedance control scheme for underwater welding robots with a passive foundation in the controller domain"],"prefix":"10.1177","volume":"93","author":[{"given":"Sunil","family":"Kumar","sequence":"first","affiliation":[{"name":"Department Mechanical Engineering, Sant Longowal Institute of Engineering &Technology, India"}]},{"given":"Vikas","family":"Rastogi","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Delhi Technological University, India"}]},{"given":"Pardeep","family":"Gupta","sequence":"additional","affiliation":[{"name":"Department Mechanical Engineering, Sant Longowal Institute of Engineering &Technology, India"}]}],"member":"179","published-online":{"date-parts":[[2017,2,1]]},"reference":[{"key":"bibr1-0037549717693687","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4615-4431-9"},{"key":"bibr2-0037549717693687","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(96)00190-2"},{"key":"bibr3-0037549717693687","first-page":"2975","volume-title":"Proceedings of 38th conference on decision & control","author":"Antonelli G"},{"key":"bibr4-0037549717693687","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140702"},{"key":"bibr5-0037549717693687","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140702"},{"key":"bibr6-0037549717693687","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140713"},{"key":"bibr7-0037549717693687","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140701"},{"key":"bibr8-0037549717693687","doi-asserted-by":"publisher","DOI":"10.4236\/ica.2010.12011"},{"key":"bibr9-0037549717693687","first-page":"1","volume":"30","author":"Zhu Y","year":"2008","journal-title":"J Dynam Syst Measur Contr"},{"key":"bibr10-0037549717693687","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2008.05.003"},{"key":"bibr11-0037549717693687","doi-asserted-by":"publisher","DOI":"10.1109\/70.238286"},{"key":"bibr12-0037549717693687","doi-asserted-by":"publisher","DOI":"10.1109\/9.280780"},{"key":"bibr13-0037549717693687","first-page":"148","volume-title":"Proceeding IEEE\/RSJ international conference intelligent robots and systems","author":"Cui Y","year":"1997"},{"key":"bibr14-0037549717693687","volume-title":"International conference on intelligent robots and systems","author":"Antonelli G"},{"key":"bibr15-0037549717693687","first-page":"361","volume-title":"IEEE Hong-Kong symposium on robotics and control","author":"Antonelli G"},{"key":"bibr16-0037549717693687","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2014.06.032"},{"key":"bibr17-0037549717693687","doi-asserted-by":"publisher","DOI":"10.1177\/027836499701600107"},{"key":"bibr18-0037549717693687","first-page":"564","volume":"127","author":"Pathak PM","year":"2005","journal-title":"Trans ASME"},{"key":"bibr19-0037549717693687","volume-title":"Robotics fundamental concepts and analysis","author":"Ghosal A","year":"2006"},{"key":"bibr20-0037549717693687","unstructured":"Mukherjee A. 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