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Adaptive Impedance Control of Robot Manipulators based on Function Approximation Technique

Published online by Cambridge University Press:  26 November 2004

Ming-Chih Chien  and
An-Chyau Huang
Ming-Chih Chien
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43, Keelung Road, Sec. 4, Taipei, Taiwan (ROC).
An-Chyau Huang
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43, Keelung Road, Sec. 4, Taipei, Taiwan (ROC).
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Abstract

This paper presents an adaptive impedance control scheme for an $n$-link constrained rigid robot manipulator without using the regressor. In addition, inversion of the estimated inertia matrix is also avoided and the new design is free from end-point acceleration measurements. The dynamics of the robot manipulator is assumed that all of the matrices in robot model are unavailable. Since these matrices are time-varying and their variation bounds are not given, traditional adaptive or robust designs do not apply. The function approximation technique is used here to represent uncertainties in some finite linear combinations of the orthogonal basis. The dynamics of the output tracking can thus be proved to be a stable first order filter driven by function approximation errors. Using the Lyapunov stability theory, a set of update laws is derived to give closed loop stability with proper tracking performance. A 2 DOF planar robot with environment constraint is used in the computer simulations to test the efficacy of the proposed scheme.

Keywords

Impedance controlAdaptive controlFunction approximation.
Type
Research Article
Information
Robotica , Volume 22 , Issue 4 , August 2004 , pp. 395 - 403
Copyright
2004 Cambridge University Press

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