Adaptive Energy-Bounding Approach for Robustly Stable Interaction Control of Impedance-Controlled Industrial Robot With Uncertain Environments
| Autor: | Jong-Phil Kim, Sehun Kim, Jeha Ryu |
|---|---|
| Rok vydání: | 2014 |
| Předmět: |
Engineering
Adaptive control business.industry Stability (learning theory) Control engineering Computer Science Applications Robot control law.invention Industrial robot Impedance control Control and Systems Engineering Control theory law Robot Electrical and Electronic Engineering Robust control business Haptic technology |
| Zdroj: | IEEE/ASME Transactions on Mechatronics. 19:1195-1205 |
| ISSN: | 1941-014X 1083-4435 |
| DOI: | 10.1109/tmech.2013.2276935 |
| Popis: | Even though impedance control approaches are useful for robot interaction control, they can guarantee stability only for the assumed range of the environments. This paper presents a new adaptive energy-bounding approach (EBA) that can maintain a desired contact force at steady state while guaranteeing robust contact stability for impedance-controlled industrial robots that are contacting with very uncertain environments beyond the assumed range of the environments. The proposed adaptive EBA that is applied to impedance-controlled industrial robots interacting with incompletely specified real environments is an extension of the haptic EBA, which was previously developed for stable haptic interaction with virtual environments. Moreover, the adaptive EBA estimates online control parameters to improve performance while assuring stability for the system. Theoretical analyses on the performance and experimental results demonstrate the effectiveness of the proposed approach. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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