Iterative Learning Impedance Control for the Robot

Jin Bao He; Zhan Wei Yao; Zai Fei Luo; Guo Jun Li; Shi Guan Zhou

doi:10.4028/www.scientific.net/AMR.945-949.1368

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 945-949Iterative Learning Impedance Control for the Robot

Iterative Learning Impedance Control for the Robot

Abstract:

In this paper, an iterative learning impedance control(ITLC) algorithm is proposed. We designed an adaptive impedance controller that can be modified using iterative learning method. Moreover, the convergence of the proposed robot system is proven using the Lyapunov function to guarantee the global convergence of tracking error. Finally, by simulating and comparing the proposed learning impedance control scheme with that of the traditional impedance control, it confirms the effectiveness of ILIC .

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Periodical:

Advanced Materials Research (Volumes 945-949)

Pages:

1368-1371

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.945-949.1368

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Online since:

June 2014

Authors:

Jin Bao He*, Zhan Wei Yao, Zai Fei Luo, Guo Jun Li, Shi Guan Zhou

Keywords:

Impedance Control, Iterative Learning, Robot Control

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