Dokument öffnen
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Allgemeine Angaben |
| Autor |
Bosheng, Ye; Bao, Song; Zhengyi, Li; Shuo, Xiong; Xiaoqi, Tang |
| Erschienen |
InTech Open Access Publisher, 2013
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| Ausgabe |
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| ISBN |
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| Kurzbeschreibung |
This paper proposes an adaptive impedance
control method for a robot’s end‐effector while it slides
steadily on an arbitrarily inclined panel; it concentrates on
robot force position tracking control for the inclined plane
with an unknown normal direction and varying
environmental damping and stiffness. The proposed control
strategy uses the Recursive Least Squares (RLS) algorithm
to estimate environmental damping and stiffness
parameters during the impact‐contact process between the
robot and the environment. It achieves the expected posture
adjustment of the robot’s end‐effector based on the
measured contact torques and, during the robot’s endeffector
ʹs sliding on the inclined plane, a fuzzy control is
developed to adjust the robot impedance model parameters
on‐line and adaptively for changes in environmental
damping and stiffness. The designed robot force position
control method is robust to the changes of the
environmental parameters but the implementation of the
proposed control algorithms is simple. Finally, experiments
demonstrate the effectiveness of the proposed method. |
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International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicado: 2004
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