Adaptive Impedance Control for Unknown Non-Flat Environment
This paper presents a new adaptive impedance control
strategy, based on Function Approximation Technique (FAT) to
compensate for unknown non-flat environment shape or time-varying
environment location. The target impedance in the force controllable
direction is modified by incorporating adaptive compensators and the
uncertainties are represented by FAT, allowing the update law to be
derived easily. The force error feedback is utilized in the estimation
and the accurate knowledge of the environment parameters are not
required by the algorithm. It is shown mathematically that the
stability of the controller is guaranteed based on Lyapunov theory.
Simulation results presented to demonstrate the validity of the
proposed controller.
[1] M. H. Raibert and J. J. Craig, "Hybrid position/ force control of
manipulators," Journal of Dynamic Systems, Measurements and Control,
vol 103, pp. 126-133, 1981.
[2] N. Hogan, "Impedance control: An approach to manipulation Parts I, II
and III," Journal of Dynamic Systems, Measurements and Control, vol
107, pp. 1-24, 1985.
[3] S. Jung, T. C. Hsia and R. G. Bonitz, "Force tracking impedance control
of robot manipulators under unknown environment," IEEE Trans. on
Control System Technology, vol. 12, pp. 474-483, May 2004.
[4] H. Seraji and R. Colbaugh, "Force tracking in impedance control," in
Proc. of the IEEE Int. Conf. on Robotics Automation, 1993, pp. 499-506.
[5] K. Lee and M. Buss, "Force tracking impedance control with variable
target stiffness," in Proc. of the Int. Federation of Automatic Control,
Seoul, Korea, 2008, pp. 6751- 6756.
[6] A. C. Huang and M. C. Chien, Adaptive Control of Robot Manipulators:
A Unified Regressor-Free Approach. Singapore: World Scientific
Publishing Co. Pte. Ltd., 2010.
[7] Norsinnira Zainul Azlan and Hiroshi Yamaura, "FAT based adaptive
impedance control for unknown environment position," in Proc. of Int.
Conf. on Control, Automation, Robotics and Vision, Kuala Lumpur,
Malaysia, 2012, pp. 1150-1155.
[8] Y. Li, S. S. Ge, C. Yang, X. Li and K. P. Tee, "Model-free impedance
control for safe human-robot interaction," in Proc. of IEEE Int. Conf. on
Robotics and Automation, Shanghai, China, 2011, pp. 6021-6026.
[9] N. Z. Azlan and H. Yamaura, "Modeling and control of compact
anthropomorphic robot finger," in Proc. of IEEE Int. Conf. on
Modelling, Identification and Control, Shanghai, China, 2011, pp. 128-
133.
[1] M. H. Raibert and J. J. Craig, "Hybrid position/ force control of
manipulators," Journal of Dynamic Systems, Measurements and Control,
vol 103, pp. 126-133, 1981.
[2] N. Hogan, "Impedance control: An approach to manipulation Parts I, II
and III," Journal of Dynamic Systems, Measurements and Control, vol
107, pp. 1-24, 1985.
[3] S. Jung, T. C. Hsia and R. G. Bonitz, "Force tracking impedance control
of robot manipulators under unknown environment," IEEE Trans. on
Control System Technology, vol. 12, pp. 474-483, May 2004.
[4] H. Seraji and R. Colbaugh, "Force tracking in impedance control," in
Proc. of the IEEE Int. Conf. on Robotics Automation, 1993, pp. 499-506.
[5] K. Lee and M. Buss, "Force tracking impedance control with variable
target stiffness," in Proc. of the Int. Federation of Automatic Control,
Seoul, Korea, 2008, pp. 6751- 6756.
[6] A. C. Huang and M. C. Chien, Adaptive Control of Robot Manipulators:
A Unified Regressor-Free Approach. Singapore: World Scientific
Publishing Co. Pte. Ltd., 2010.
[7] Norsinnira Zainul Azlan and Hiroshi Yamaura, "FAT based adaptive
impedance control for unknown environment position," in Proc. of Int.
Conf. on Control, Automation, Robotics and Vision, Kuala Lumpur,
Malaysia, 2012, pp. 1150-1155.
[8] Y. Li, S. S. Ge, C. Yang, X. Li and K. P. Tee, "Model-free impedance
control for safe human-robot interaction," in Proc. of IEEE Int. Conf. on
Robotics and Automation, Shanghai, China, 2011, pp. 6021-6026.
[9] N. Z. Azlan and H. Yamaura, "Modeling and control of compact
anthropomorphic robot finger," in Proc. of IEEE Int. Conf. on
Modelling, Identification and Control, Shanghai, China, 2011, pp. 128-
133.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:54912", author = "Norsinnira Zainul Azlan and Hiroshi Yamaura", title = "Adaptive Impedance Control for Unknown Non-Flat Environment", abstract = "This paper presents a new adaptive impedance control
strategy, based on Function Approximation Technique (FAT) to
compensate for unknown non-flat environment shape or time-varying
environment location. The target impedance in the force controllable
direction is modified by incorporating adaptive compensators and the
uncertainties are represented by FAT, allowing the update law to be
derived easily. The force error feedback is utilized in the estimation
and the accurate knowledge of the environment parameters are not
required by the algorithm. It is shown mathematically that the
stability of the controller is guaranteed based on Lyapunov theory.
Simulation results presented to demonstrate the validity of the
proposed controller.", keywords = "Adaptive impedance control, Function
Approximation Technique (FAT), impedance control, unknown
environment position.", volume = "7", number = "2", pages = "228-6", }