Adaptive impedance control for robot based on estimation of environmental parameters

doi:10.4028/www.scientific.net/AMR.328-330.1713

CORC > 兰州理工大学 > 兰州理工大学

	Adaptive impedance control for robot based on estimation of environmental parameters
	Li, Zhan Ming 1; Li, Er Chao 2
	2011
会议日期	November 18, 2011 - November 20, 2011
会议地点	Guangzhou, China
关键词	Estimation Mechatronics Neural networks Robotics Robots BP neural networks Changing environment Contact task Environmental parameter Force controller Impedance control Impedance controllers Impedance parameters One-to-one mappings Unknown environments
卷号	328-330
DOI	10.4028/www.scientific.net/AMR.328-330.1713
页码	1713-1716
英文摘要	In order to realize precise contact tasks with an unknown environment, robotic force controllers have to adapt themselves to the unknown environment. Some impedance controllers are designed for several representative environmental parameters, A BP neural network is proposed to determine the one-to-one mapping relations between the environmental parameters and the impedance parameters. However, it is difficult to accurately know the environmental parameters in the case of a changing environment, RLS is proposed to estimate environmental parameters, then determine the impedance coefficients to control the robot. Simulations prove that the controller designed is feasible and effective. © 2011 Trans Tech Publications.
会议录	Advanced Materials Research
会议录出版者	Trans Tech Publications, P.O. Box 1254, Clausthal-Zellerfeld, D-38670, Germany
语种	英语
ISSN号	10226680
内容类型	会议论文
源URL	[http://ir.lut.edu.cn/handle/2XXMBERH/116587]
专题	兰州理工大学
作者单位	1.College of Electrical and Information Engineering, Lanzhou University of Technology, China; 2.Key Laboratory of Gansu Advanced Control for Industrial Processes, China
推荐引用方式 GB/T 7714	Li, Zhan Ming,Li, Er Chao. Adaptive impedance control for robot based on estimation of environmental parameters[C]. 见:. Guangzhou, China. November 18, 2011 - November 20, 2011.