A Robust Adaptive Impedance Control of Robots

摘要

In response to an environment, the robotic system's desired dynamical behavior is modelled as a desired impedance, namely a reference model. The reference model, which is considered as an adaptive system gives the desired response to the contact force. Furthermore, a Model-Reference Adaptive Control System (MRACS) is designed via the strategy of voltage control to provide an impedance control which is robust against structured and unstructured uncertainty. Compared to the conventional adaptive impedance controls, which are designed by the strategy of torque control, it is simpler, more reliable and robust. The proposed control algorithm is simulated on an electrically-driven SCARA robotic system. Simulation results and comparison with an adaptive impedance control and force disturbance rejection-based adaptive controller are presented to show the control effectiveness.