Adaptive Variable-Damping Impedance Control for Unknown Interaction Environment
Aiming at the force-tracking error phenomenon of impedance control in an unknown surface environment, an adaptive variable-damping impedance control algorithm is proposed, and the stability and convergence of the algorithm are deduced. An adaptive-law selection rule is proposed to aim at the phenome...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-12-01
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| Series: | Mathematics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2227-7390/11/24/4961 |