Adaptive admittance tracking control for interactive robot with prescribed performance

被引：0
|
作者：
MENG Qingrui [1 ]
LIN Yan [2 ]
机构：
[1] School of Automation Science and Electrical Engineering, Beihang University
[2] College of Electrical Engineering and Automation, Shandong University of Science and Technology
来源：
Journal of Systems Engineering and Electronics | 2024年 / 35卷 / 02期
基金：
中国国家自然科学基金;
关键词：
D O I：
暂无
中图分类号：
TP242 [机器人]; TP273 [自动控制、自动控制系统];
学科分类号：
080201 ; 0835 ; 1111 ;
摘要：
An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic performance. Notably, the performance of the output error is confined in an envelope characterized by exponential convergence, leading to convergence to zero. This feature ensures a prompt response from admittance control and establishes a reliable safety framework for interactions. Simulation results provide practical insights,demonstrating the viability of the control scheme proposed in this paper.
引用
收藏
页码：444 / 450
页数：7
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