An analysis of some fundamental problems in adaptive control of force and impedance behavior: theory and experiments

Force control in robotic mechanisms has been extensively researched. There have been several results which have concentrated either on explicit force control or impedance control. Further, many of these works require accurate identification of the stiffness of the environment. In this work the autho...

Full description

Saved in:
Bibliographic Details
Published inIEEE transactions on robotics and automation Vol. 11; no. 6; pp. 912 - 921
Main Authors Singh, S.K., Popa, D.O.
Format Journal Article
LanguageEnglish
Published New York, NY IEEE 01.12.1995
Institute of Electrical and Electronics Engineers
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Adaptive control
Applied sciences
Computer science; control theory; systems
Control systems
Control theory. Systems
Damping
Error correction
Exact sciences and technology
Feedback
Force control
Impedance
Iron
Mechanical engineering
Robotics
Robots
Steady-state
Mechanical impedance
Stiffness
Robustness
Adaptive control
Force control
Robotics
Manipulator
Online AccessGet full text

Cover

More Information
Summary:Force control in robotic mechanisms has been extensively researched. There have been several results which have concentrated either on explicit force control or impedance control. Further, many of these works require accurate identification of the stiffness of the environment. In this work the authors examine the role of adaptive controllers for force control with unknown system and environment parameters and clearly integrate several fundamental issues such as explicit force control, impedance control, and impedance control combined with a desired force control. All of these issues are treated using standard model-reference adaptive control (MRAC) approach. Within the same framework, the authors analyze other equally fundamental issues such as environment stiffness identification, stability of the complete system, and parameter convergence. The authors demonstrate the effectiveness of the proposed theory through experiments.
ISSN:1042-296X
2374-958X
DOI:10.1109/70.478439