FAT based Adaptive Impedance Control for Unknown Environment Position
This paper presents the Function Approximation
Technique (FAT) based adaptive impedance control for a robotic
finger. The force based impedance control is developed so that the
robotic finger tracks the desired force while following the reference
position trajectory, under unknown environment position and
uncertainties in finger parameters. The control strategy is divided into
two phases, which are the free and contact phases. Force error
feedback is utilized in updating the uncertain environment position
during contact phase. Computer simulations results are presented to
demonstrate the effectiveness of the proposed technique.
[1] S. Jung, T. C. Hsia and R. G. Bonitz, "Force tracking impedance control
of robot manipulators under unknown environment," IEEE Trans. On
Control Systems Technology, vol. 12, no. 3, pp. 475-483, May 2004.
[2] H. Seraji and R. Colbaugh, "Force tracking in impedance control," in
Proc. IEEE Int. Conf. on Robotics and Automation, 1993, pp. 499-506.
[3] A. C. Huang and M. C. Chien, "Design of a regressor-free adaptive
impedance controller for flexible-joint electrically-driven robots," in Proc.
IEEE Int. Conf. on Industrial Electronics and Applications, Xi-an, 2009,
pp. 17-22.
[4] Y. Li, S. S. Ge, C. Yang, X. Li and K. P. Tee, "Model -free impedance
control for safe human-robot interaction," in Proc. IEEE Int. Conf. on
Robotics and Automation, Shanghai, 2011, pp. 6021-6026.
[5] N. Z. Azlan, and H. Yamaura, "Modeling and control of compact
anthropomorphic robot finger," in Proc. IEEE Int. Conf. on Modelling,
Identification and Control, Shanghai, 2011, pp. 128-133.
[6] A. C. Huang and M. C. Chien, Adaptive Control of Robot Manipulators: A
Unified Regressor-Free Approach, Singapore: World Scientific, 2010.
[1] S. Jung, T. C. Hsia and R. G. Bonitz, "Force tracking impedance control
of robot manipulators under unknown environment," IEEE Trans. On
Control Systems Technology, vol. 12, no. 3, pp. 475-483, May 2004.
[2] H. Seraji and R. Colbaugh, "Force tracking in impedance control," in
Proc. IEEE Int. Conf. on Robotics and Automation, 1993, pp. 499-506.
[3] A. C. Huang and M. C. Chien, "Design of a regressor-free adaptive
impedance controller for flexible-joint electrically-driven robots," in Proc.
IEEE Int. Conf. on Industrial Electronics and Applications, Xi-an, 2009,
pp. 17-22.
[4] Y. Li, S. S. Ge, C. Yang, X. Li and K. P. Tee, "Model -free impedance
control for safe human-robot interaction," in Proc. IEEE Int. Conf. on
Robotics and Automation, Shanghai, 2011, pp. 6021-6026.
[5] N. Z. Azlan, and H. Yamaura, "Modeling and control of compact
anthropomorphic robot finger," in Proc. IEEE Int. Conf. on Modelling,
Identification and Control, Shanghai, 2011, pp. 128-133.
[6] A. C. Huang and M. C. Chien, Adaptive Control of Robot Manipulators: A
Unified Regressor-Free Approach, Singapore: World Scientific, 2010.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:54786", author = "N. Z. Azlan and H. Yamaura", title = "FAT based Adaptive Impedance Control for Unknown Environment Position", abstract = "This paper presents the Function Approximation
Technique (FAT) based adaptive impedance control for a robotic
finger. The force based impedance control is developed so that the
robotic finger tracks the desired force while following the reference
position trajectory, under unknown environment position and
uncertainties in finger parameters. The control strategy is divided into
two phases, which are the free and contact phases. Force error
feedback is utilized in updating the uncertain environment position
during contact phase. Computer simulations results are presented to
demonstrate the effectiveness of the proposed technique.", keywords = "Adaptive impedance control, force based impedance
control, force control, Function Approximation Technique (FAT),
unknown environment position.", volume = "6", number = "8", pages = "1520-6", }