Adaptive impedance control for unknown non-flat environment

• 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/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
• Institution: Universiti Islam Antarabangsa Malaysia

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...