Abstract
The paper deals with the application of model reference adaptive control to robot impedance control, which is actually a technique of steering the end-effector on a prescribed path and satisfying a prescribed dynamic relationship between the force and the end-effector position. Due to unknown parameters of the environment (stiffness, exact position), a model reference algorithm is proposed which differs from classical algorithms in its method of excitation. The results of the proposed procedure are illustrated by implementation on the ASEA IRb 6 industrial robot.
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Kamnik, R., Matko, D. & Bajd, T. Application of Model Reference Adaptive Control to Industrial Robot Impedance Control. Journal of Intelligent and Robotic Systems 22, 153–163 (1998). https://doi.org/10.1023/A:1007932701318
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DOI: https://doi.org/10.1023/A:1007932701318