Title of article :
An adaptive impedance control algorithm; application in exoskeleton robot
Author/Authors :
Ataei,، Mohammad Mahdi نويسنده receive BS and MS degrees in Mechanical Engineering in 2010 and 2012 respectively. , , Salarieh، Hassan نويسنده he is currently Associate Professor at Sharif University of Technology , , Alasty، Aria نويسنده At present, he is a professor of Mechanical Engineering in Sharif University of Technology. ,
Issue Information :
دوماهنامه با شماره پیاپی 0 سال 2015
Abstract :
Exoskeleton is a well-known example of an unconstrained robot for which
the desired path is not prede ned. Regarding these two e ective features, a formulation
for impedance control algorithm is presented and its prominence is demonstrated both
mathematically and through simulation. Moreover it is essential to control this robot by
an adaptive method because at least dynamic characteristics of the load are unknown.
Unfortunately the existing methods do not address aforementioned traits or become
unstable as inertia matrix becomes singular. Here an adaptive algorithm is generated
based on the logic of Least Squares identi cation method rather than the Lyapunov stability
criterion to tackle those limitations.
Journal title :
Scientia Iranica(Transactions B:Mechanical Engineering)
Journal title :
Scientia Iranica(Transactions B:Mechanical Engineering)
