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.

Authors:

• N. Z. Azlan
• H. Yamaura

Keywords:

• Adaptive impedance control
• force based impedance control
• force control
• Function Approximation Technique (FAT)
• unknown environment position.

References:

[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.