Title :
Stability and convergence analysis of robust adaptive force tracking impedance control of robot manipulators
Author :
Jung, Seul ; Hsia, T.C.
Author_Institution :
Robotics & Comput. Intelligence Lab., Chungnam Nat. Univ., Taejon, South Korea
Abstract :
A simple adaptive robust force tracking impedance control scheme that has the capability to track a specified desired force is proposed. The new impedance function is realized by the relationship between force error and velocity/acceleration error. The proposed control scheme uses the adaptive technique to compensate for uncertainties in environment location and stiffness. The robot dynamic model uncertainty is compensated by a robust position control algorithm based on time-delayed information. Simulation studies are shown to demonstrate the analysis of the stability and the convergence of the proposed scheme under uncertainties
Keywords :
adaptive control; convergence; force control; manipulator dynamics; position control; robust control; tracking; convergence analysis; force error; robot manipulators; robust adaptive force tracking impedance control; robust position control algorithm; time-delayed information; velocity/acceleration error; Acceleration; Adaptive control; Convergence; Force control; Impedance; Programmable control; Robust control; Robust stability; Stability analysis; Uncertainty;
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
DOI :
10.1109/IROS.1999.812751
