Historical perspective and state of the art in robot force control
International Journal of Robotics Research
Adaptive compliant motion control for dexterous manipulators
International Journal of Robotics Research
The equivalence of second-order impedance control and proportional gain explicit force control
International Journal of Robotics Research
Robot Analysis and Control
Adaptive Control Systems
Implementation of CAM physiotherapy device with a virtual spring
Computers in Biology and Medicine
Impedance control of a manipulator using a fuzzy model reference learning controller
ACMOS'08 Proceedings of the 10th WSEAS International Conference on Automatic Control, Modelling & Simulation
Motorized CPM/CAM physiotherapy device with sliding-mode Fuzzy Neural Network control loop
Computer Methods and Programs in Biomedicine
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The paper deals with the application of model reference adaptive controlto robot impedance control, which is actually a technique of steering theend-effector on a prescribed path and satisfying a prescribed dynamicrelationship between the force and the end-effector position. Due to unknownparameters of the environment (stiffness, exact position), a model referencealgorithm is proposed which differs from classical algorithms in its methodof excitation. The results of the proposed procedure are illustrated byimplementation on the ASEA IRb 6 industrial robot.