Journal
CONTROL ENGINEERING PRACTICE
Volume 32, Issue -, Pages 9-27Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2014.07.001
Keywords
Impedance control; Human-robot interaction; Model Reference Adaptive Control; Haptics
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Four nonlinear Model Reference Adaptive Impedance Controllers are introduced, tested, and compared for the control of the robot impedance with uncertainties in model parameters. The intended application area is human-robot interactions (HRI), particularly rehabilitation robots and haptic interfaces. All of the controllers make the closed-loop dynamics of the robot similar to the reference impedance model besides providing asymptotic tracking of the impedance model for the robot end-effector in Cartesian coordinates. The tracking and global stability are proved using Lyapunov stability theorem. Based on the simulations and experiments on a two-DOFs robot, the effectiveness of the proposed controllers is investigated. (C) 2014 Elsevier Ltd. All rights reserved.
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