Force tracking impedance control with unknown environment via an iterative learning algorithm

被引：0

作者：

Xiuquan LIANG ^{[1
]}

Huan ZHAO ^{[1
]}

Xiangfei LI ^{[1
]}

Han DING ^{[1
]}

机构：

[1] State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology

来源：

Science China(Information Sciences) | 2019年 / 62卷 / 05期

基金：

中国国家自然科学基金;

关键词：

Force tracking impedance control with unknown environment via an iterative learning algorithm;

D O I：

暂无

中图分类号：

TP242 [机器人];

学科分类号：

1111 ;

摘要：

Dear editor,Force tracking control is important for constrained operations. In recent years, impedance control is garnering increasing attention in robot force control. A new two-phase impedance function through null stiffness in an original impedance equation to satisfy zero-force tracking error for any environment was presented in [1, 2]. Further improvement was performed in [3]. However, the hy-

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页码：47 / 49

页数：3

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