A model reference adaptive variable impedance control method for robot

As a simple and effective force tracking control method, impedance control is widely used in robot contact operations. The internal control parameters of traditional impedance control are constant and cannot be corrected in real time, which will lead to instability of control system or large force t...

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Bibliographic Details
Published in:MATEC web of conferences 2021, Vol.336, p.3005
Main Authors: Sun, Xinchao, Zhao, Lianyu, Liu, Zhenzhong
Format: Article
Language:English
Subjects:
Adaptive control
Control methods
Control stability
Impedance
Mathematical models
Model reference adaptive control
Parameters
Real time
Robot control
Robotic surgery
Tracking control
Tracking errors
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Summary:As a simple and effective force tracking control method, impedance control is widely used in robot contact operations. The internal control parameters of traditional impedance control are constant and cannot be corrected in real time, which will lead to instability of control system or large force tracking error. Therefore, it is difficult to be applied to the occasions requiring higher force accuracy, such as robotic medical surgery, robotic space operation and so on. To solve this problem, this paper proposes a model reference adaptive variable impedance control method, which can realize force tracking control by adjusting internal impedance control parameters in real time and generating a reference trajectory at the same time. The simulation experiment proves that compared with the traditional impedance control method, this method has faster force tracking speed and smaller force tracking error. It is a better force tracking control method.
ISSN:2261-236X
2274-7214
2261-236X
DOI:10.1051/matecconf/202133603005