A Research on Simulations for the Adaptive Impedance Algorithm of Robot Manipulator

Fang Wang; Hua Sun; Jia Guo Lv; Zhen Yang

doi:10.4028/www.scientific.net/AMM.687-691.548

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 687-691A Research on Simulations for the Adaptive...

A Research on Simulations for the Adaptive Impedance Algorithm of Robot Manipulator

Abstract:

In this paper, the adaptive impedance control proposed by Seul is studied in detail aiming at the disadvantages of traditional impedance control algorithm. In simulation experiment, above two methods are used to control the planar robot. The performance of merits of two algorithms is analyzed detailedly. From the final result of simulation, the adaptive impedance control algorithm has the performance of robustness, that is: it can perform well as though the mathematical model of robot is not accurate and it can work well in the bad working circumstance.

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Periodical:

Applied Mechanics and Materials (Volumes 687-691)

Pages:

548-551

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.687-691.548

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Online since:

November 2014

Authors:

Fang Wang, Hua Sun, Jia Guo Lv, Zhen Yang

Keywords:

Impedance Control, Impedance Parameter, Parameter Selection, Robot

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