Adaptive Impedance Control of Robot Manipulators with Parametric Uncertainty for Constrained Path–Tracking

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...

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Bibliographic Details
Main Authors: Bonilla Isela, Mendoza Marco, Campos-Delgado Daniel U., Hernández-Alfaro Diana E.
Format: Article
Language:English
Published: Sciendo 2018-06-01
Series:International Journal of Applied Mathematics and Computer Science
Subjects:
adaptive control
constrained motion
mechanical impedance
robot manipulator
Online Access:https://doi.org/10.2478/amcs-2018-0027

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