FAT based adaptive impedance control for unknown environment position

• Main Authors: Zainul Azlan, Norsinnira, Yamaura, Hiroshi
• Format: Article
• Language: English
• Published: World Academy of Science, Engineering and Technology 2012
• Subjects: TJ Mechanical engineering and machinery; TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://irep.iium.edu.my/47726/1/fat_based_adaptive_2.pdf; http://irep.iium.edu.my/47726/; http://waset.org/publications/5696/fat-based-adaptive-impedance-control-for-unknown-environment-position

This paper presents the Function Approximation Technique (FAT) based adaptive impedance control for a robotic finger. The force based impedance control is developed so that the robotic finger tracks the desired force while following the reference position trajectory, under unknown environment posit...