On Energy-based Robust Passive Impedance Control of a Robot Manipulator

CAO Sheng, LUO Zhiwei, QUAN Changqin
2017 Journal of Mechanics Engineering and Automation  
Passivity is an important requirement for a robot to interact with human or other dynamic environments stably and safely as in robotic rehabilitations. Considering the time-varying objective impedance center, under the condition that the robot's dynamics is known, previous research has already proposed a passive impedance control approach which adjusts a scaling parameter of the robot's desired velocity with respect to the robot's mechanic energy so as to maintain the robot's passivity. In this
more » ... research, we furture take into account of the robot's dynamical model uncertainties and propose a robust passive impedance control. Computer simulations of a 2-link manipulator interacting with a dynamic wall show the effectiveness of our robust control approach.
doi:10.17265/2159-5275/2017.02.002 fatcat:xqwj5rwknnfvpev2o7gvunvfee