TY - GEN
T1 - Adaptive Impedance Controller design of roboţs manipulator using nominal information
AU - Yang, Longhe
AU - Han, Yi
AU - Xu, Bin
AU - Li, Zhen
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/10/21
Y1 - 2016/10/21
N2 - This paper investigates the adaptive impedance control dealing with parameter uncertainties of roboţs manipulator. The system uncertainty is modeled as nominal part and unknown part where the known information is provided as basic feedback while adaptive design is put on the estimation. By writing the unknown part into linearly parameterized form, the adaptive controller is designed. The simulation test is presented to show the effectiveness of the proposed approach.
AB - This paper investigates the adaptive impedance control dealing with parameter uncertainties of roboţs manipulator. The system uncertainty is modeled as nominal part and unknown part where the known information is provided as basic feedback while adaptive design is put on the estimation. By writing the unknown part into linearly parameterized form, the adaptive controller is designed. The simulation test is presented to show the effectiveness of the proposed approach.
UR - http://www.scopus.com/inward/record.url?scp=84999025203&partnerID=8YFLogxK
U2 - 10.1109/ICARM.2016.7606970
DO - 10.1109/ICARM.2016.7606970
M3 - 会议稿件
AN - SCOPUS:84999025203
T3 - ICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics
SP - 496
EP - 500
BT - ICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 International Conference on Advanced Robotics and Mechatronics, ICARM 2016
Y2 - 18 August 2016 through 20 August 2016
ER -