<abstract xmlns="http://www.w3.org/1999/xhtml"><p> The main impedance control schemes in the task space require accurate knowledge of the kinematics and dynamics of the robotic system to be controlled. In order to eliminate this dependence and preserve the structure of this kind of algorithms, this paper presents an adaptive impedance control approach to robot manipulators with kinematic and dynamic parametric uncertainty. The proposed scheme is an inverse dynamics control law that leads to the closed-loop system having a PD structure whose equilibrium point converges asymptotically to zero according to the formal stability analysis in the Lyapunov sense. In addition, the general structure of the scheme is composed of continuous functions and includes the modeling of most of the physical phenomena present in the dynamics of the robotic system. The main feature of this control scheme is that it allows precise path tracking in both free and constrained spaces (if the robot is in contact with the environment). The proper behavior of the closed-loop system is validated using a two degree-of-freedom robotic arm. For this benchmark good results were obtained and the control objective was achieved despite neglecting non modeled dynamics, such as viscous and Coulomb friction.</p></abstract>

The main impedance control schemes in the task space require accurate knowledge of the kinematics and dynamics of the robotic system to be controlled. In order to eliminate this dependence and preserve the structure of this kind of algorithms, this paper presents an adaptive impedance control approach to robot manipulators with kinematic and dynamic parametric uncertainty. The proposed scheme is an inverse dynamics control law that leads to the closed-loop system having a PD structure whose equilibrium point converges asymptotically to zero according to the formal stability analysis in the Lyapunov sense. In addition, the general structure of the scheme is composed of continuous functions and includes the modeling of most of the physical phenomena present in the dynamics of the robotic system. The main feature of this control scheme is that it allows precise path tracking in both free and constrained spaces (if the robot is in contact with the environment). The proper behavior of the closed-loop system is validated using a two degree-of-freedom robotic arm. For this benchmark good results were obtained and the control objective was achieved despite neglecting non modeled dynamics, such as viscous and Coulomb friction.

Adaptive Impedance Control of Robot Manipulators with Parametric Uncertainty for Constrained Path–Tracking

International Journal of Applied Mathematics and Computer Science

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

The main impedance control schemes in the task space require accurate knowledge of the kinematics and dynamics of the robotic system to be controlled. In order...

Adaptive Impedance Control of Robot Manipulators with Parametric Uncertainty for Constrained Path–Tracking

Published Online: Jun 29, 2018

Page range: 363 - 374

Received: Mar 29, 2017

Accepted: Dec 29, 2017

DOI: https://doi.org/10.2478/amcs-2018-0027

Keywords
adaptive control, constrained motion, mechanical impedance, robot manipulator

© 2018 Marco Mendoza, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Adaptive Impedance Control of Robot Manipulators with Parametric Uncertainty for Constrained Path–Tracking

Published Online: Jun 29, 2018

Page range: 363 - 374

Received: Mar 29, 2017

Accepted: Dec 29, 2017

DOI: https://doi.org/10.2478/amcs-2018-0027

Keywordsadaptive control, constrained motion, mechanical impedance, robot manipulator

© 2018 Marco Mendoza, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Keywords
adaptive control, constrained motion, mechanical impedance, robot manipulator