Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

PI Controller: Design01:24

PI Controller: Design

199
Proportional Integral (PI) controllers are a fundamental component in modern control systems, widely used to enhance performance and mitigate steady-state errors. They are particularly effective in applications such as automatic brightness adjustment on smartphones, where they excel at mitigating steady-state errors for step-function inputs. Unlike PD controllers, which require time-varying errors to function optimally, PI controllers leverage their integral component to address residual...
199
Controller Configurations01:22

Controller Configurations

85
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
85
Time and frequency -Domain Interpretation of PI Control01:27

Time and frequency -Domain Interpretation of PI Control

104
Proportional-Integral (PI) controllers are essential in many control systems to improve stability and performance. They are commonly used in everyday devices like thermostats to enhance system damping and reduce steady-state error. When the zero in the controller's transfer function is optimally placed, the system benefits significantly in terms of stability and accuracy.
Acting as a low-pass filter, the PI controller slows the system's response and extends settling times. This requires...
104
PD Controller: Design01:26

PD Controller: Design

183
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
183

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Geographic variation in eligibility and uptake of GLP-1 receptor agonists for obesity in US adults.

American journal of preventive cardiology·2026
Same author

Histone H3K18 lactylation: An exercise-induced epigenetic mechanism that inhibits osteoclast activity and protects against osteoporosis.

Journal of orthopaedic translation·2026
Same author

Federated target trial emulation for time-to-event outcomes via POLARIS: Pooled-equivalent One-shot Likelihood Aggregation for Real-world Inference in Survival.

Research square·2026
Same author

Phenome-wide analysis of downstream health outcomes following second-line antidiabetic agent prescriptions in All of Us.

Nature communications·2026
Same author

AI literacy and school tier moderate educators' ethical coping mechanisms through sedative and reverse Matthew effects.

Scientific reports·2026
Same author

AI-driven discovery of an allosteric thrombin-targeting anticoagulant peptide from traditional Chinese medicine Dilong (Pheretima aspergillum).

Journal of ethnopharmacology·2026

Related Experiment Video

Updated: Jun 3, 2025

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study
06:58

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study

Published on: November 6, 2015

9.4K

Variable-Parameter Impedance Control of Manipulator Based on RBFNN and Gradient Descent.

Linshen Li1,2,3, Fan Wang1,3, Huilin Tang1,2,3

  • 1Xi'an Institute of Optics and Precision Mechanics of CAS, Xi'an 710119, China.

Sensors (Basel, Switzerland)
|January 11, 2025
PubMed
Summary

This study introduces a novel variable-parameter impedance control for robotic manipulators, enhancing precision in grasping tasks. The method uses a Radial Basis Function Neural Network and gradient descent, reducing computational load and adapting to object stiffness.

Keywords:
RBFNNgradient descentimpedance controlmanipulator

More Related Videos

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
06:45

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator

Published on: October 28, 2022

1.6K
A Human-machine-interface Integrating Low-cost Sensors with a Neuromuscular Electrical Stimulation System for Post-stroke Balance Rehabilitation
11:06

A Human-machine-interface Integrating Low-cost Sensors with a Neuromuscular Electrical Stimulation System for Post-stroke Balance Rehabilitation

Published on: April 12, 2016

10.4K

Related Experiment Videos

Last Updated: Jun 3, 2025

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study
06:58

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study

Published on: November 6, 2015

9.4K
Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
06:45

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator

Published on: October 28, 2022

1.6K
A Human-machine-interface Integrating Low-cost Sensors with a Neuromuscular Electrical Stimulation System for Post-stroke Balance Rehabilitation
11:06

A Human-machine-interface Integrating Low-cost Sensors with a Neuromuscular Electrical Stimulation System for Post-stroke Balance Rehabilitation

Published on: April 12, 2016

10.4K

Area of Science:

  • Robotics
  • Control Systems Engineering
  • Artificial Intelligence

Background:

  • Accurate force and position control are crucial for manipulator grasping tasks to prevent object damage.
  • Existing hybrid force/position control methods are computationally intensive.
  • Adaptive control is needed for manipulators interacting with objects of varying stiffness.

Purpose of the Study:

  • To propose a computationally efficient variable-parameter impedance control method for manipulators.
  • To achieve concurrent and precise force and position control during grasping.
  • To reduce the need for manual impedance parameter tuning.

Main Methods:

  • A position-based impedance control structure integrating iterative learning control and gradient descent.
  • Design of a sliding mode controller to handle system uncertainties and perturbations.
  • Utilizing a Radial Basis Function Neural Network (RBFNN) for system identification.
  • Iterative adjustment of impedance parameters via a gradient descent method.

Main Results:

  • The proposed method achieves precise force and position control in manipulator grasping tasks.
  • Demonstrated efficacy through simulations and experimental validation.
  • Successfully adapted to objects with varying stiffness without manual parameter adjustments.

Conclusions:

  • The variable-parameter impedance control method offers a superior alternative to traditional methods.
  • The integration of RBFNN and gradient descent significantly improves control accuracy and adaptability.
  • This approach enhances the safety and efficiency of robotic manipulation tasks.