ImpedanceAdaptation20May13.pdf (268.82 kB)
Impedance adaptation for optimal robot–environment interaction
journal contribution
posted on 2023-06-09, 09:24 authored by Shuzhi Sam Ge, Yanan LiYanan Li, Chen WangIn this paper, impedance adaptation is investigated for robots interacting with unknown environments. Impedance control is employed for the physical interaction between robots and environments, subject to unknown and uncertain environments dynamics. The unknown environments are described as linear systems with unknown dynamics, based on which the desired impedance model is obtained. A cost function that measures the tracking error and interaction force is defined, and the critical impedance parameters are found to minimize it. Without requiring the information of the environments dynamics, the proposed impedance adaptation is feasible in a large number of applications where robots physically interact with unknown environments. The validity of the proposed method is verified through simulation studies.
History
Publication status
- Published
File Version
- Accepted version
Journal
International Journal of ControlISSN
0020-7179Publisher
Taylor & FrancisExternal DOI
Issue
2Volume
87Page range
249-263Department affiliated with
- Engineering and Design Publications
Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2017-12-15First Open Access (FOA) Date
2017-12-15First Compliant Deposit (FCD) Date
2017-12-14Usage metrics
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