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Nonlinear model reference adaptive impedance control for human-robot interactions
Sharifi, M ; Sharif University of Technology
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- Type of Document: Article
- DOI: 10.1016/j.conengprac.2014.07.001
- Abstract:
- Four nonlinear Model Reference Adaptive Impedance Controllers are introduced, tested, and compared for the control of the robot impedance with uncertainties in model parameters. The intended application area is human-robot interactions (HRI), particularly rehabilitation robots and haptic interfaces. All of the controllers make the closed-loop dynamics of the robot similar to the reference impedance model besides providing asymptotic tracking of the impedance model for the robot end-effector in Cartesian coordinates. The tracking and global stability are proved using Lyapunov stability theorem. Based on the simulations and experiments on a two-DOFs robot, the effectiveness of the proposed controllers is investigated
- Keywords:
- Haptics ; Human-robot interaction ; Impedance control ; Non-linear model ; Model reference adaptive control
- Source: Control Engineering Practice ; Vol. 32 , 2014 , pp. 9-27 ; ISSN: 09670661
- URL: http://www.sciencedirect.com/science/article/pii/S0967066114001713