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

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 the...

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Bibliographic Details
Main Authors: Zainul Azlan , Norsinnira, Yamaura, Hiroshi
Format: Article
Language:English
Published: World Academy of Science, Engineering and Technology 2013
Subjects:
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
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Institution: Universiti Islam Antarabangsa Malaysia
Language: English