Adaptive variable impedance control for robot force tracking in unstructured environment

被引：0

作者：

Gan Y.-H. ^{[1
,2
]}

Duan J.-J. ^{[1
,2
]}

Dai X.-Z. ^{[1
,2
]}

机构：

[1] School of Automation, Southeast University, Nanjing

[2] Key Laboratory of Measurement and Control of Complex Systems of Engineering of Ministry of Education, Southeast University, Nanjing

来源：

Kongzhi yu Juece/Control and Decision | 2019年 / 34卷 / 10期

关键词：

Adaptive control; Constant impedance control; Force tracking; Unstructured environment; Variable impedance model;

D O I：

10.13195/j.kzyjc.2018.0238

中图分类号：

学科分类号：

摘要：

An adaptive variable impedance control for force tracking is proposed, which has the capability to track a specified desired force and to compensate for uncertainties in environment location and stiffness. Firstly, by establishing the interaction model between robots and environment, the requirement of environment stiffness and location are analyzed. Then, a new impedance model is developed to adapt any uncertainly environment stiffness. According to the change of contact force, the impedance parameters can be adaptively adjusted on-line to compensate the unknown dynamic environment. And the stability of the adaptive variable impedance control is proven. Finally, the classical constant impedance and the adaptive variable impedance proposed are compared in the unstructured environment. The experimental results show that the proposed scheme can achieve better force tracking performance than the constant impedance control. © 2019, Editorial Office of Control and Decision. All right reserved.

引用

页码：2134 / 2142

页数：8

共 18 条

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