An adaptive impedance control scheme for constrained robots

Date
2004
Authors
Huang, L
Supervisor
Item type
Journal Article
Degree name
Journal Title
Journal ISSN
Volume Title
Publisher
IAAMSAD
Abstract

This paper addresses the issue of position/force tracking for a constrained robot within the framework of impedance control. An adaptive controller is developed in which a varying desired impedance is adaptively tuned with the robot’s position tracking error. It guarantees the asymptotic convergence of the robot position tracking error and the boundedness of the constraint force tracking error. Simulation results are provided to verify the effectiveness of the scheme.

Description
Keywords
Adaptive control , Impedance control , Constrained robot
Source
International Journal of Computers, Systems and Signals, vol.5(2), pp.17-26
DOI
Publisher's version
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