Adaptive Impedance Control for Robot Based on Estimation of Environmental Parameters

摘要：

In order to realize precise contact tasks with an unknown environment, robotic force controllers have to adapt themselves to the unknown environment. Some impedance controllers are designed for several representative environmental parameters, A BP neural network is proposed to determine the one-to-one mapping relations between the environmental parameters and the impedance parameters. However, it is difficult to accurately know the environmental parameters in the case of a changing environment, RLS is proposed to estimate environmental parameters, then determine the impedance coefficients to control the robot. Simulations prove that the controller designed is feasible and effective.

关键词： Impedance control Environment estimation Robot

作者: ZhanMingLi ErChaoLi

作者单位: College of Electrical and Information Engineering, Lanzhou University of Technology, China Key Laboratory of Gansu Advanced Control for Industrial Processes, China

会议类型: 国际会议

会议名称: 2011 International Conference on Mechatronics and Materials Processing(2011年机电一体化与材料加工国际会议 ICMMP)

会议地点: 广州

会议语种:英文

页码: 1713-1716

在线出版日期: 2011-11-18（万方平台首次上网日期，不代表论文的发表时间）