Adaptive impedance control for unknown non-flat environment
This paper presents a new adaptive impedance control strategy, based on Function Approximation Technique (FAT) to compensate for unknown non-flat environment shape or time-varying environment location. The target impedance in the force controllable direction is modified by incorporating adaptive c...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
World Academy of Science, Engineering and Technology
2013
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/47730/1/adative_impedance_control_5.pdf http://irep.iium.edu.my/47730/ http://waset.org/publications/5819/adaptive-impedance-control-for-unknown-non-flat-environment |
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| Institution: | Universiti Islam Antarabangsa Malaysia |
| Language: | English |
| Summary: | This paper presents a new adaptive impedance control
strategy, based on Function Approximation Technique (FAT) to
compensate for unknown non-flat environment shape or time-varying environment location. The target impedance in the force controllable direction is modified by incorporating adaptive compensators and the uncertainties are represented by FAT, allowing the update law to be derived easily. The force error feedback is utilized in the estimation and the accurate knowledge of the environment parameters are not
required by the algorithm. It is shown mathematically that the stability of the controller is guaranteed based on Lyapunov theory. Simulation results presented to demonstrate the validity of the proposed controller. |
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