Title :
On adaptive impedance control of robot manipulators
Author :
Kelly, Rafael ; Carelli, Ricardo ; Amestegui, Mauricio ; Ortega, Romeo
Abstract :
Impedance control specifications for robot manipulators are given in terms of a desired motion trajectory and a desired dynamic relationship between position errors and interaction forces. An adaptive implementation is proposed as an alternative to reduce the design sensitivity due to model-manipulator parameter mismatch. Two adaptive controllers that globally achieve the impedance objective for the general nonlinear dynamic model are presented. The controller structures consist of a nonlinear feedback of positions, velocities, and end-effector applied forces. Computer simulations were carried out to demonstrate stability and performance control
Keywords :
adaptive control; feedback; nonlinear control systems; robots; adaptive impedance control; computer simulations; design sensitivity; dynamic relationship; end-effector applied forces; feedback; interaction forces; model-manipulator parameter mismatch; motion trajectory; nonlinear systems; performance control; position errors; positions; robot manipulators; stability; velocities; Adaptive control; Error correction; Force control; Impedance; Manipulator dynamics; Motion control; Programmable control; Robot control; Robot sensing systems; Velocity control;
Conference_Titel :
Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
0-8186-1938-4
DOI :
10.1109/ROBOT.1989.100046
