What is it about?
Impedance and Admittance Control are two well-known controllers to accomplish the same goal: the regulation of the mechanical impedance of manipulators interacting dynamically with the environment. However, they both are affected by a strong limitation deriving from their fixed causality, which causes their inability to provide good performance over a large spectrum of environment stiffnesses. In this paper an adaptive hybrid system framework is proposed to unify Impedance and Admittance formulations and consequently overcome this limit. Indeed, the hybrid framework interpolates the opposite performance and stability characteristics of the above-mentioned impedance-based control strategies leading to a family of controllers with intermediate properties, and thus suitable for several conditions. Moreover, the adaptivity allows the hybrid system to operate properly in an environment characterized by unknown and even time-varying stiffness. Especially, the work focuses on the development of this latter aspect and an adaptive solution based on a feedforward Neural Network is presented. The effectiveness of the novel control strategy is demonstrated by means of numerical simulations.
Featured Image
Read the Original
This page is a summary of: Adaptive Hybrid System Framework for Unified Impedance and Admittance Control, Journal of Intelligent & Robotic Systems, November 2017, Springer Science + Business Media,
DOI: 10.1007/s10846-017-0732-1.
You can read the full text:
Contributors
The following have contributed to this page