Dynamic modeling and control of adaptive impedance for human-manipulator interaction with uncertainty

2nd International Conference on Frontiers of Materials Synthesis and Processing

Yu, Feng^1^2 ; Chen, Xinyuan^1^2

Key Laboratory of Metallurgical Equipment, Wuhan University of Science and Technology, Ministry of Education, Wuhan, China^1

Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, China^2

关键词: End points;    External environments;    Impedance control;    Impedance controllers;    Modeling and control;    Robot parameters;    Simulation studies;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/493/1/012017/pdf
DOI  :  10.1088/1757-899X/493/1/012017

来源: IOP

【 摘 要 】

Robots have been used widely in every field in nowadays, such as in transport, machining and some other tasks interaction with the human. Impedance control is a useful method to maintain the dynamic relationship between the end-point of the manipulator and the external environment. Considering the uncertainties of the robot parameters and the environment, this paper proposes an adaptive impedance controller, before the controller designed, the dynamic model of the manipulator is established. Then a experimental and simulation study is made to verify the control algorithm, the results show that the adaptive impedance control is valid and easy to implement.