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

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

Content Provider	Scilit
Author	Kai, Chen-Yu Huang, An-Chyau
Copyright Year	2014
Description	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.
Related Links	https://www.cambridge.org/core/services/aop-cambridge-core/content/view/E8A3B1ECC5916D398DB74BF13F0ED790/S0263574714000277a.pdf/div-class-title-a-regressor-free-adaptive-impedance-controller-for-robot-manipulators-without-slotine-and-li-s-modification-theory-and-experiments-div.pdf
Ending Page	648
Page Count	11
Starting Page	638
ISSN	02635747
e-ISSN	14698668
DOI	10.1017/s0263574714000277
Journal	Robotica
Issue Number	3
Volume Number	33
Language	English
Publisher	Cambridge University Press (CUP)
Publisher Date	2015-03-01
Access Restriction	Open
Subject Keyword	Robotica Impedance Control Adaptive Control
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Artificial Intelligence Rehabilitation Control and Systems Engineering Mechanical Engineering Computational Mechanics Modeling and Simulation Computer Science Applications Computer Vision and Pattern Recognition Software

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