Adaptive Hybrid Impedance Control of Robot Manipulators with Robustness   against Environment&apos;s Uncertainties

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	Adaptive Hybrid Impedance Control of Robot Manipulators with Robustness against Environment's Uncertainties
	Li, Jianfei ; Liu, Li ; Wang, Yaobing ; Liang, Wenyuan
	2015
关键词	force control hybrid impendence environment
英文摘要	It is evident that the environment takes an important part during implementation of impedance control of robot manipulators. Better results are expected if the impedance of the manipulator is configured according to the environment's dynamics. In this paper, a hybrid impedance controller is designed. With some robustness against the uncertainties of the environment, the approach is able to implement the desired contact force and, at the same time, track the commanded position in orthogonal subspace without knowing the accurate model of the environment. Furthermore, the control law is configured based on input-output relationship so that the adaptive law can be adopted, which results in asymptotic global stability even with parameter uncertainties of the manipulator.; CPCI-S(ISTP); lijf@coe.pku.edu.cn; liuli@coe.pku.edu.cn; iamwyb@163.com; lwy123@pku.edu.cn; 1846-1851
会议录	IEEE International Conference on Mechatronics & Automation
语种	英语
内容类型	会议论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/450236]
专题	工学院
推荐引用方式 GB/T 7714	Li, Jianfei,Liu, Li,Wang, Yaobing,et al. Adaptive Hybrid Impedance Control of Robot Manipulators with Robustness against Environment's Uncertainties[C]. 见:.