Repozytorium Uniwersytetu Zielonogórskiego udostępnia 9 312 obiektów cyfrowych
Obiekt
Tytuł: Adaptive impedance control of robot manipulators with parametric uncertainty for constrained path-tracking
Creator:
Bonilla, Isela ; Mendoza, Marco ; Campos-Delgado, Daniel U. ; Hernández-Alfaro, Diana E..
Date:
Resource Type:
Contributor:
Puig, Vicenç - ed. ; Sauter, Dominique - ed. ; Aubrun, Christophe - ed. ; Schulte, Horst - ed.
Subtitle:
Group publication title:
Abstract:
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 approach to robot manipulators with kinematic and dynamic parametric uncertainty. The proposed scheme is an inverse dynamics control law that leads to the closed-loop system having a PD structure whose equilibrium point converges asymptotically to zero according to the formal stability analysis in the Lyapunov sense. ; In addition, the general structure of the scheme is composed of continuous functions and includes the modeling of most of the physical phenomena present in the dynamics of the robotic system. The main feature of this control scheme is that it allows precise path tracking in both free and constrained spaces (if the robot is in contact with the environment). The proper behavior of the closed-loop system is validated using a two degree-of-freedom robotic arm. For this benchmark good results were obtained and the control objective was achieved despite neglecting non modeled dynamics, such as viscous and Coulomb friction.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
DOI:
Pages:
Source:
AMCS, volume 28, number 2 (2018) ; kliknij tutaj, żeby przejść
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Kolekcje, do których przypisany jest obiekt:
- Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Repository > Types of work > Articles
- Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2018)
Data ostatniej modyfikacji:
Jul 14, 2025
Data dodania obiektu:
Jul 8, 2025
Liczba wyświetleń treści obiektu:
37
Wszystkie dostępne wersje tego obiektu:
https://zbc.uz.zgora.pl/repozytorium/publication/100835
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 28, number 1 (2018)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 28, number 2 (2018)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 28, number 3 (2018)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 28, number 4 (2018)
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| Nazwa wydania | Data |
|---|---|
| Adaptive impedance control of robot manipulators with parametric uncertainty for constrained path-tracking | Jul 14, 2025 |
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