Adaptive Impedance Control with Compliant Body Balance for Hydraulically Driven Hexapod Robot
نویسندگان
چکیده
منابع مشابه
An Adaptive Impedance Controller for Robot Manipulators
A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic...
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ژورنال
عنوان ژورنال: Journal of System Design and Dynamics
سال: 2011
ISSN: 1881-3046
DOI: 10.1299/jsdd.5.893