An observer-based adaptive impedance-control for robotic arms: Case study in SMOS robot

Abstract

In this paper an adaptive output-feedback impedance control is proposed to be used in environment-machine interaction applications. The proposed control is designed to achieve a desired robot impedance in the presence of possible dynamical parameter uncertainties. A high-gain observer is utilized in the control structure to achieve this objective by using only position feedback of robot joints, which in turn, reduces implementation costs and eliminates additional sensor requirements. Stability of the overall system is analyzed through input to state stability analysis. Finally, to evaluate the presented structure, computer simulations are provided and the scheme effectiveness is verified.