Application of Model Reference Adaptive Control to Industrial Robot Impedance Control |
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Authors: | Roman Kamnik Drago Matko Tadej Bajd |
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Affiliation: | (1) Faculty of Electrical Engineering, University of Ljubljana, Traka 25, Ljubljana, Slovenia |
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Abstract: | The paper deals with the application of model reference adaptive control to robot impedance control, which is actually a technique of steering the end-effector on a prescribed path and satisfying a prescribed dynamic relationship between the force and the end-effector position. Due to unknown parameters of the environment (stiffness, exact position), a model reference algorithm is proposed which differs from classical algorithms in its method of excitation. The results of the proposed procedure are illustrated by implementation on the ASEA IRb 6 industrial robot. |
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Keywords: | industrial robots robot impedance control model reference adaptive control constrained motion |
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