Adaptive Impedance Control of Robot Manipulators with Parametric Uncertainty for Constrained Path–Tracking
The main impedance control schemes in the task space require accurate knowledge of the kinematics and dynamics of the robotic system to be controlled. In order to eliminate this dependence and preserve the structure of this kind of algorithms, this paper presents an adaptive impedance control approa...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Sciendo
2018-06-01
|
| Series: | International Journal of Applied Mathematics and Computer Science |
| Subjects: | |
| Online Access: | https://doi.org/10.2478/amcs-2018-0027 |
| _version_ | 1818738700069109760 |
|---|---|
| author | Bonilla Isela Mendoza Marco Campos-Delgado Daniel U. Hernández-Alfaro Diana E. |
| author_facet | Bonilla Isela Mendoza Marco Campos-Delgado Daniel U. Hernández-Alfaro Diana E. |
| author_sort | Bonilla Isela |
| collection | DOAJ |
| description | The main impedance control schemes in the task space require accurate knowledge of the kinematics and dynamics of the robotic system to be controlled. In order to eliminate this dependence and preserve the structure of this kind of algorithms, this paper presents an adaptive impedance control approach to robot manipulators with kinematic and dynamic parametric uncertainty. The proposed scheme is an inverse dynamics control law that leads to the closed-loop system having a PD structure whose equilibrium point converges asymptotically to zero according to the formal stability analysis in the Lyapunov sense. In addition, the general structure of the scheme is composed of continuous functions and includes the modeling of most of the physical phenomena present in the dynamics of the robotic system. The main feature of this control scheme is that it allows precise path tracking in both free and constrained spaces (if the robot is in contact with the environment). The proper behavior of the closed-loop system is validated using a two degree-of-freedom robotic arm. For this benchmark good results were obtained and the control objective was achieved despite neglecting non modeled dynamics, such as viscous and Coulomb friction. |
| first_indexed | 2024-12-18T01:13:06Z |
| format | Article |
| id | doaj.art-f4789b640a144d12bd3b37e1a889c814 |
| institution | Directory Open Access Journal |
| issn | 2083-8492 |
| language | English |
| last_indexed | 2024-12-18T01:13:06Z |
| publishDate | 2018-06-01 |
| publisher | Sciendo |
| record_format | Article |
| series | International Journal of Applied Mathematics and Computer Science |
| spelling | doaj.art-f4789b640a144d12bd3b37e1a889c8142022-12-21T21:26:03ZengSciendoInternational Journal of Applied Mathematics and Computer Science2083-84922018-06-0128236337410.2478/amcs-2018-0027amcs-2018-0027Adaptive Impedance Control of Robot Manipulators with Parametric Uncertainty for Constrained Path–TrackingBonilla Isela0Mendoza Marco1Campos-Delgado Daniel U.2Hernández-Alfaro Diana E.3Faculty of Science Autonomous University of San Luis Potosí, Av. Salvador Nava S/N,San Luis Potosí, SLP, 78290 MexicoFaculty of Science Autonomous University of San Luis Potosí, Av. Salvador Nava S/N,San Luis Potosí, SLP, 78290 MexicoFaculty of Science Autonomous University of San Luis Potosí, Av. Salvador Nava S/N,San Luis Potosí, SLP, 78290 MexicoEricsson Av. 5 de Febrero 1351, Edificio Fresno, Zona Industrial Benito Juárez,Santiago de Querétaro, Qro., 76120 MexicoThe main impedance control schemes in the task space require accurate knowledge of the kinematics and dynamics of the robotic system to be controlled. In order to eliminate this dependence and preserve the structure of this kind of algorithms, this paper presents an adaptive impedance control approach to robot manipulators with kinematic and dynamic parametric uncertainty. The proposed scheme is an inverse dynamics control law that leads to the closed-loop system having a PD structure whose equilibrium point converges asymptotically to zero according to the formal stability analysis in the Lyapunov sense. In addition, the general structure of the scheme is composed of continuous functions and includes the modeling of most of the physical phenomena present in the dynamics of the robotic system. The main feature of this control scheme is that it allows precise path tracking in both free and constrained spaces (if the robot is in contact with the environment). The proper behavior of the closed-loop system is validated using a two degree-of-freedom robotic arm. For this benchmark good results were obtained and the control objective was achieved despite neglecting non modeled dynamics, such as viscous and Coulomb friction.https://doi.org/10.2478/amcs-2018-0027adaptive controlconstrained motionmechanical impedancerobot manipulator |
| spellingShingle | Bonilla Isela Mendoza Marco Campos-Delgado Daniel U. Hernández-Alfaro Diana E. Adaptive Impedance Control of Robot Manipulators with Parametric Uncertainty for Constrained Path–Tracking International Journal of Applied Mathematics and Computer Science adaptive control constrained motion mechanical impedance robot manipulator |
| title | Adaptive Impedance Control of Robot Manipulators with Parametric Uncertainty for Constrained Path–Tracking |
| title_full | Adaptive Impedance Control of Robot Manipulators with Parametric Uncertainty for Constrained Path–Tracking |
| title_fullStr | Adaptive Impedance Control of Robot Manipulators with Parametric Uncertainty for Constrained Path–Tracking |
| title_full_unstemmed | Adaptive Impedance Control of Robot Manipulators with Parametric Uncertainty for Constrained Path–Tracking |
| title_short | Adaptive Impedance Control of Robot Manipulators with Parametric Uncertainty for Constrained Path–Tracking |
| title_sort | adaptive impedance control of robot manipulators with parametric uncertainty for constrained path tracking |
| topic | adaptive control constrained motion mechanical impedance robot manipulator |
| url | https://doi.org/10.2478/amcs-2018-0027 |
| work_keys_str_mv | AT bonillaisela adaptiveimpedancecontrolofrobotmanipulatorswithparametricuncertaintyforconstrainedpathtracking AT mendozamarco adaptiveimpedancecontrolofrobotmanipulatorswithparametricuncertaintyforconstrainedpathtracking AT camposdelgadodanielu adaptiveimpedancecontrolofrobotmanipulatorswithparametricuncertaintyforconstrainedpathtracking AT hernandezalfarodianae adaptiveimpedancecontrolofrobotmanipulatorswithparametricuncertaintyforconstrainedpathtracking |