| Autor: |
Chenggang Li, Wu Zefeng, Yong Song, Chunming Wang |
| Rok vydání: |
2019 |
| Předmět: |
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| Zdroj: |
2019 IEEE 9th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER). |
| DOI: |
10.1109/cyber46603.2019.9066609 |
| Popis: |
This paper proposes a novel passivity-based force tracking control method for flexible joint robots. A passivity-based Cartesian impedance control approach combined with force tracking scheme is introduced to achieve a stable contact of desired force between the flexible joint robots and environment. By introducing an energy tank to control the energy flow of the system, the problem of passivity has been solved. For various stiffness environment, the tracking error is reduced by the adaptive rate to ensure the accuracy of the force control. The effectiveness of the controller is proved by simulation results. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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