Paper Title:
Adaptive Impedance Control for Robot Based on Estimation of Environmental Parameters
  Abstract

In order to realize precise contact tasks with an unknown environment, robotic force controllers have to adapt themselves to the unknown environment. Some impedance controllers are designed for several representative environmental parameters, A BP neural network is proposed to determine the one-to-one mapping relations between the environmental parameters and the impedance parameters. However, it is difficult to accurately know the environmental parameters in the case of a changing environment, RLS is proposed to estimate environmental parameters, then determine the impedance coefficients to control the robot. Simulations prove that the controller designed is feasible and effective.

  Info
Periodical
Advanced Materials Research (Volumes 328-330)
Chapter
Chapter 3: Mechatronics and Automation
Edited by
Liangchi Zhang, Chunliang Zhang and Zichen Chen
Pages
1713-1716
DOI
10.4028/www.scientific.net/AMR.328-330.1713
Citation
Z. M. Li, E. C. Li, "Adaptive Impedance Control for Robot Based on Estimation of Environmental Parameters", Advanced Materials Research, Vols. 328-330, pp. 1713-1716, 2011
Online since
September 2011
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Wen Jun Li, Bai Ling An, Hong Kun Zhang
Abstract:Adaptive multiple impedance control based on passivity is studied about two robot manipulators cooperating an object which interacts with...
265
Authors: Chi Wu Bu, Li Xun Zhang
Chapter 9: Information System for Materials and Mechanics
Abstract:A robot system is present for the wind turbine blade grinding work. The robot is a mobile manipulator equipped with a grinding tool. In order...
1203
Authors: Lu Cai Wang, Qi Dou Zhou, Ri Xiu Guo, Jian Bo Xie
Chapter 1: Vibration Engineering
Abstract:The vibration control effect due to blocking mass on vibration transmission of single force excited structure is analyzed by adopting...
24
Authors: Hector de Castilla, Pierre Bélanger, Ricardo J. Zednik
Chapter 2: Contributed Papers
Abstract:High temperature piezoelectric materials have numerous potential applications, including high temperature ultrasound NDT, MEMS, sensors, or...
408