Adaptive impedance control for unknown time-varying environment position and stiffness

• Main Authors: Zainul Azlan , Norsinnira, Yamaura, Hiroshi
• Format: Article
• Language: English
• Published: World Academy of Science, Engineering and Technology 2013
• Subjects: TJ Mechanical engineering and machinery; TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://irep.iium.edu.my/47712/1/adative_impedance_control_1.pdf; http://irep.iium.edu.my/47712/; http://waset.org/publications/535/adaptive-impedance-control-for-unknown-time-varying-environment-position-and-stiffness

This study is concerned with a new adaptive impedance control strategy to compensate for unknown time-varying environment stiffness and position. The uncertainties are expressed by Function Approximation Technique (FAT), which allows the update laws to be derived easily using Lyapunov stability the...