An Adaptive Impedance Controller for Robot Manipulators
Publish place: International Journal of Engineering (IJE)، Vol: 3، Issue: 3
Publish Year: 1369
نوع سند: مقاله ژورنالی
زبان: English
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شناسه ملی سند علمی:
JR_IJE-3-3_001
تاریخ نمایه سازی: 18 بهمن 1400
Abstract:
A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic model of rigid robot manipulators.
Authors
J. F. Postigo
, Universidad Nacional de San Juan