Adaptive impedance control for safe robot manipulator

In this paper, we proposed an algorithm that can move robot manipulator with constant velocity in robust stability. The moving velocity of arm is controlled by an algorithm of the adaptive impedance control, which increases operation efficiency and keeps the advantages of the impedance control. This control algorithm will satisfy practical and efficient applications, such as manipulator control that assist safely in feeding impaired patients. The manipulator is firstly based on 1 DOF robot arm which rotates in the vertical plane. The effect of gravity was eliminated by robust control. The algorithm of robust adaptive impedance control increases operation efficiency and operation stability. Furthermore, the impedance with the robust control design eliminates the steady state error which is caused by the static friction, and the reaction torque observer reduces the ripple of torque and smoothes the output of velocity.