FAT based Adaptive Impedance Control for Unknown Environment Position
ثبت نشده
چکیده
This paper presents the Function Approximation Technique (FAT) based adaptive impedance control for a robotic finger. The force based impedance control is developed so that the robotic finger tracks the desired force while following the reference position trajectory, under unknown environment position and uncertainties in finger parameters. The control strategy is divided into two phases, which are the free and contact phases. Force error feedback is utilized in updating the uncertain environment position during contact phase. Computer simulations results are presented to demonstrate the effectiveness of the proposed technique. Keywords—Adaptive impedance control, force based impedance control, force control, Function Approximation Technique (FAT), unknown environment position.
منابع مشابه
Adaptive Impedance Control for Unknown Non-Flat Environment
This paper presents a new adaptive impedance control strategy, based on Function Approximation Technique (FAT) to compensate for unknown non-flat environment shape or time-varying environment location. The target impedance in the force controllable direction is modified by incorporating adaptive compensators and the uncertainties are represented by FAT, allowing the update law to be derived eas...
متن کاملAdaptive Impedance Control for Unknown Time-Varying Environment Position and Stiffness
This study is concerned with a new adaptive impedance control strategy to compensate for unknown time-varying environment stiffness and position. The uncertainties are expressed by Function Approximation Technique (FAT), which allows the update laws to be derived easily using Lyapunov stability theory. Computer simulation results are presented to validate the effectiveness of the proposed strat...
متن کاملBilateral teleoperation control to improve transparency in stiff environment with time delay
This paper proposes a new bilateral control scheme to ensure both transparency and robust stability under unknown constant time delay in stiff environment. Furthermore, this method guaranties suitable performance and robust stability when transition occurs between soft and stiff environments. This framework is composed of an adaptive sliding mode controller and an adaptive impedance controller,...
متن کاملNeural Network Techniques for Robust Force Control of Robot Manipulators
In this paper a neural network force/position control scheme is proposed to compensate uncertainties in both robot dynamics and unknown environment. The proposed impedance control allows us to regulate force directly by specifying a desired force. Training signals are proposed for a feed forward neural network controller. The robustness analysis of the uncertainties in environment position is p...
متن کاملOn Force Tracking Impedance Control with Unknown EnvironmentSti ness
In impedance control for contact force tracking, it is well known that the reference trajectory of the robot is calculated from known environment stiiness 1]. Here we present a simple technique for determining the reference trajectory under the condition that the environment stiiness is unknown. The technique is developed based on the replacement of the unknown stiiness with a function of the m...
متن کامل