Application of model reference adaptive control to industrial robot impedance control

被引：65
|
作者：
Kamnik, R [1 ]
Matko, D [1 ]
Bajd, T [1 ]
机构：
[1] Univ Ljubljana, Fac Elect Engn, Ljubljana, Slovenia
来源：
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 1998年 / 22卷 / 02期
关键词：
industrial robots; robot impedance control; model reference adaptive control; constrained motion;
D O I：
10.1023/A:1007932701318
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The paper deals with the application of model reference adaptive control to robot impedance control, which is actually a technique of steering the end-effector on a prescribed path and satisfying a prescribed dynamic relationship between the force and the end-effector position. Due to unknown parameters of the environment (stiffness, exact position), a model reference algorithm is proposed which differs from classical algorithms in its method of excitation. The results of the proposed procedure are illustrated by implementation on the ASEA IRb 6 industrial robot.
引用
收藏
页码：153 / 163
页数：11
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