Name
Title | ||
|---|---|---|
Model reference adaptive impedance control in Cartesian coordinates for physical human-robot interaction. |
Abstract | ||
|---|---|---|
In this paper, a nonlinear model reference adaptive impedance controller is proposed and tested. The controller provides asymptotic tracking of a reference impedance model for the robot end-effector in Cartesian coordinates applicable to rehabilitation robotics or any other human-robot interactions such as haptic systems. The controller uses the parameters of a desired stable reference model which is the target impedance for the robot's end-effector. It also considers uncertainties in the model parameters of the robot. The asymptotic tracking is proven using Lyapunov stability theorem. Moreover, the adaptation law is proposed in joint space for reducing the complexity of its calculations; however, the controller and the stability proof are all presented in Cartesian coordinates. Using simulations and experiments on a two DOFs robot, the effectiveness of the proposed controller is investigated. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1080/01691864.2014.933125 | ADVANCED ROBOTICS |
Keywords | Field | DocType |
physical human-robot interaction,model reference adaptive control,impedance control,haptic | Control theory,Reference model,Control theory,Lyapunov stability,Control engineering,Impedance control,Engineering,Robot,Human–robot interaction,Haptic technology,Cartesian coordinate system | Journal |
Volume | Issue | ISSN |
28 | 19 | 0169-1864 |
Citations | PageRank | References |
3 | 0.40 | 8 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Mojtaba Sharifi | 1 | 15 | 4.55 |
| Saeed Behzadipour | 2 | 69 | 8.16 |
| G. R. Vossoughi | 3 | 3 | 0.40 |