Flexible-joint Impedance Control Based on Backstepping Method

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	Flexible-joint Impedance Control Based on Backstepping Method
	Hou C(侯澈)1,2; Zhao YW(赵忆文)1; Zhang B(张弼)1; Zhao XG(赵新刚)1; Li YL(李英立)1
	2019
会议日期	November 22-24, 2019
会议地点	Hangzhou, China
关键词	Compliance control Impedance control backstepping Flexible joint
页码	41-44
英文摘要	In this paper, an impedance control method based on backstepping approach is proposed aiming at the problems of compliance control when the flexible joint contacts with the environment. The stability of the controller is proved based on Lyapunov stability theory. The controller design combines stability of a Lyapunov function and the desired dynamic of impedance model. The experiment results show the effectiveness and feasibility of the proposed control approach.
产权排序	1
会议录	Proceedings - 2019 Chinese Automation Congress, CAC 2019
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-7281-4094-0
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/26405]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Zhao XG(赵新刚)
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 2.University of Chinese Academy of Sciences, Beijing, China.
推荐引用方式 GB/T 7714	Hou C,Zhao YW,Zhang B,et al. Flexible-joint Impedance Control Based on Backstepping Method[C]. 见:. Hangzhou, China. November 22-24, 2019.