Adaptive Impedance Control for Force Tracking of the Chewing Robot

被引：0

作者：

Wang, Guifei ^{[1
]}

Liu, Jukang ^{[2
]}

Ma, Xiaoli ^{[1
]}

Xi, Hui ^{[1
]}

Zhou, Ye ^{[1
]}

Wang, Yong ^{[1
]}

机构：

[1] Qingdao Univ Technol, Sch Sci, Qingdao 266520, Peoples R China

[2] Qingdao Tech Coll, Sch Haier, Qingdao 266520, Peoples R China

来源：

PROCEEDINGS OF 2023 INTERNATIONAL CONFERENCE ON AI AND METAVERSE IN SUPPLY CHAIN MANAGEMENT, AIMSCM 2023 | 2023年

关键词：

Adaptive impedance control; Chewing robot; force tracking;

D O I：

10.1145/3648050.3648060

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Due to the complexity of occlusal contact, force and trajectory tracking is a crucial problem for the chewing robots. A position-based impedance control is proposed to realize hybrid control of chewing force and chewing trajectory in this paper. To eliminate the steady-state error of the single impedance control in uncertain environment, a novel adaptive impedance control is proposed for chewing robots and its adaptive control law is induced using Lyapunov stability theory. Simulations are conducted to test the performances of force tracking with the single impedance control and the novel adaptive impedance control, respectively. The findings of the simulations clearly demonstrate that the proposed adaptive impedance control outperforms the conventional single impedance control in force tracking.

引用

页数：5

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