A Solution to the Accuracy/Robustness Dilemma in Impedance Control

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It has been reported that, in impedance control, there exists a dilemma between impedance accuracy and robustness against modeling error. As a solution to this dilemma, an accurate and robust impedance control technique is developed based on internal model control structure and time-delay estimation: the former injects desired impedance and corrects modeling error, the latter estimates and compensates the nonlinear dynamics of robot manipulators. Owing to the simple structure, the proposed control is designed without requiring entire model computation or complex algorithms. In 2-DOF SCARA-type robot experiments, the Accuracy and robustness of the proposed control are confirmed through comparisons with other competent controllers including impedance control with disturbance observer.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2009-06
Language
English
Article Type
Article
Keywords

TIME-DELAY CONTROL; ROBOT MANIPULATORS; MOTION CONTROL; LEAST-SQUARES; DESIGN; SYSTEMS; FRAMEWORK; HAND

Citation

IEEE-ASME TRANSACTIONS ON MECHATRONICS, v.14, no.3, pp.282 - 294

ISSN
1083-4435
DOI
10.1109/TMECH.2008.2005524
URI
http://hdl.handle.net/10203/14445
Appears in Collection
ME-Journal Papers(저널논문)
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