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[Letter] Adaptive NN impedance control for an SEA-driven robot
journal contribution
posted on 2023-06-09, 15:44 authored by Xinbo Yu, Wei He, Yanan LiYanan Li, Chengqian Xue, Yongkun Sun, Yu WangIn this letter, we propose an adaptive active impedance control combined with passive mechanical impedance, and use neural networks (NNs) to compensate for uncertainties of compliant robot’s dynamics. Taking these into account, we propose an online adaptive law to update NN weights and a complete framework about adaptive impedance control design. Simulations show the proposed method can ensure that both the accuracy and safety can be achieved.
History
Publication status
- Published
File Version
- Accepted version
Journal
SCIENCE CHINA Information SciencesISSN
1674-733XPublisher
Springer VerlagExternal DOI
Volume
63Article number
a159207Department affiliated with
- Engineering and Design Publications
Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2018-11-06First Open Access (FOA) Date
2021-02-26First Compliant Deposit (FCD) Date
2018-11-05Usage metrics
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