Journal
APPLIED SCIENCES-BASEL
Volume 12, Issue 23, Pages -Publisher
MDPI
DOI: 10.3390/app122312222
Keywords
robot; impedance control; admittance control; adaptive control; time-delay estimation
Categories
Funding
- National Key Research and Development Project
- National Natural Science Foundation of China
- Shanghai Youth Science and Technology Talent Yangfan Program
- [2019YFB1312500]
- [62073156]
- [62103280]
- [20YF1433600]
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An adaptive robust admittance control strategy is proposed for robot-environment interaction. The environmental impedance is estimated and an adaptive robust admittance controller is designed to track the admittance trajectory with the prescribed performance.
The performance of robot admittance control depends heavily on environmental dynamics, the desired impedance selection, and control input. In this study, an adaptive robust admittance control strategy is proposed for robot-environment interaction. The environmental impedance is estimated using an adaptive law with projection modification to guarantee that the impedance estimator is constrained in a predefined set. Then, the desired robot stiffness and damping are determined based on the duality principle. To obtain the desired impedance dynamics, an adaptive robust admittance controller based on time-delay estimation is designed for the robot to track the admittance trajectory with the prescribed performance. Simulations are conducted to show the effectiveness of the environmental impedance estimation and the proposed adaptive robust admittance control.
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