Impedance Control of Flexible Robot Arms with Parametric Uncertainties

This paper presents an adaptive impedance control strategy for flexible manipulators by using an end-effector trajectory control approach. The impedance control objective is converted into tracking a trajectory generated by a designed ideal impedance model. A manifold is designed to prescribe desirable performance of the system. An adaptive control scheme is derived in such that the motion of the system will converge and remain to the ideal manifold for the case of parametric uncertainties. Stability of the control system is analyzed. Simulations are carried out to demonstrate the effectiveness of the proposed control method.