Adaptive impedance control for unknown time-varying environment position and stiffness

• Main Authors: Zainul Azlan , Norsinnira, Yamaura, Hiroshi
• Format: Article
• Language: English
• Published: World Academy of Science, Engineering and Technology 2013
• Subjects: TJ Mechanical engineering and machinery; TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://irep.iium.edu.my/47712/1/adative_impedance_control_1.pdf; http://irep.iium.edu.my/47712/; http://waset.org/publications/535/adaptive-impedance-control-for-unknown-time-varying-environment-position-and-stiffness
• Institution: Universiti Islam Antarabangsa Malaysia

This study is concerned with a new adaptive impedance control strategy to compensate for unknown time-varying environment stiffness and position. The uncertainties are expressed by Function Approximation Technique (FAT), which allows the update laws to be derived easily using Lyapunov stability theory. Computer simulation results are presented to validate the effectiveness of the proposed strategy.