A model reference adaptive variable impedance control method for robot

As a simple and effective force tracking control method, impedance is widely used in robot contact operations. The internal parameters of traditional are constant cannot be corrected real time, which will lead to instability system or large error. Therefore, it difficult applied the occasions requiring higher accuracy, such as robotic medical surgery, space operation so on. To solve this problem, paper proposes model reference adaptive variable can realize by adjusting time generating trajectory at same time. simulation experiment proves that compared with method has faster speed smaller It better method.