Learning impedance control for physical robot-environment interaction

In this article, learning impedance control is proposed for physical robot-environment interaction. Learning mechanism is developed such that the knowledge of the robot structure is not required. With the developed method, the dynamics of the robot arm is governed to follow a target impedance model...

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Bibliographic Details
Published in:International journal of control 2012-02, Vol.85 (2), p.182-193
Main Authors: Li, Yanan, Sam Ge, Shuzhi, Yang, Chenguang
Format: Article
Language:English
Subjects:
Adaptative systems
Applied sciences
Computer science
control theory
systems
Computer simulation
Control theory. Systems
Dynamics
Exact sciences and technology
Genotype & phenotype
Impedance
impedance control
Learning
learning control
robot-environment interaction
Robotics
Robots
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Description
Summary:In this article, learning impedance control is proposed for physical robot-environment interaction. Learning mechanism is developed such that the knowledge of the robot structure is not required. With the developed method, the dynamics of the robot arm is governed to follow a target impedance model and the interaction control objective is achieved. The control performance is discussed through the rigorous analysis. The validity of the proposed method is verified by simulation studies.
ISSN:0020-7179
1366-5820
DOI:10.1080/00207179.2011.642309