Composite Learning Enhanced Robot Impedance Control

• Published in: IEEE transaction on neural networks and learning systems Vol. 31; no. 3; pp. 1052 - 1059
• Main Authors: Sun, Tairen, Peng, Liang, Cheng, Long, Hou, Zeng-Guang, Pan, Yongping
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.03.2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; composite adaptation; Computer simulation; Controllers; Convergence; Impedance; impedance control; Learning; learning control; parameter convergence; Parameter estimation; robot; Robot control; Robots; Stability criteria; Uncertainty

The desired impedance dynamics can be achieved for a robot if and only if an impedance error converges to zero or a small neighborhood of zero. Although the convergence of impedance errors is important, it is seldom obtained in the existing impedance controllers due to robots modeling uncertainties...