A model reference approach to adaptive impedance control of robot manipulators

Author

Soitrov, Z.M. ; Botev, Roumen G.

Author_Institution

Dept. of Robotics, Tech. Univ. of Sofia, Bulgaria

Volume

2

fYear

1993

fDate

26-30 Jul 1993

Firstpage

727

Abstract

A new formulation of the impedance control problem which is suitable for passivity based adaptive controllers for robot manipulators is proposed. A reference model architecture leading to a desired error dynamics and an adaptation procedure which is independent of the initial state error is used. The reference model dynamics represents the desired dynamics relationship between position error, velocity error and external force. It also allows for the adaptation procedure to be tuned independently of the desired impedance behavior of the manipulator. The proposed control algorithm is shown to be globally stable, computationally simple and easy to implement. The theoretical results are verified through computer simulations

Keywords

manipulator dynamics; adaptive impedance control; computational simplicity; computer simulations; ease of implementation; error dynamics; external force; global stability; initial state error; model reference approach; passivity based adaptive controllers; position error; reference model dynamics; robot manipulators; tuning; velocity error; Adaptive control; Error correction; Force control; Impedance; Manipulators; Motion control; Programmable control; Robot control; Robot sensing systems; Robotic assembly;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on

Conference_Location

Yokohama

Print_ISBN

0-7803-0823-9

Type

conf

DOI

10.1109/IROS.1993.583146

Filename

583146