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A regressor-free adaptive impedance controller for robot manipulators without Slotine and Li's modification: theory and experiments

Published online by Cambridge University Press:  10 March 2014

Chen-Yu Kai  and
An-Chyau Huang
Chen-Yu Kai*
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, No. 43, Keelung Road, Sec. 4, Taipei 10607, Taiwan, R.O.C.
An-Chyau Huang
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, No. 43, Keelung Road, Sec. 4, Taipei 10607, Taiwan, R.O.C.
*
*Corresponding author. E-mail: [email protected]
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Summary

Slotine and Li's modification is a well-known, simple, and elegant approach for robot adaptive control to avoid the feedback of joint accelerations. This paper presents a simple strategy to implement a regressor-free adaptive impedance controller without using Slotine and Li's modification. In the new strategy, the joint acceleration vector and the dynamics of robot are assumed to be unavailable. Their effects are covered by using the function approximation technique so that there is no need for the joint acceleration feedback. The closed-loop stability and boundedness of internal signals are justified by the Lyapunov-like technique. Experimental results for a two-dimensional (2D) robot are presented to show the effectiveness of the proposed strategy.

Keywords

Impedance controlAdaptive controlFAT
Type
Articles
Information
Robotica , Volume 33 , Issue 3 , March 2015 , pp. 638 - 648
Copyright
Copyright © Cambridge University Press 2014 

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