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Adaptive Variable-Damping Impedance Control for Unknown Interaction Environment

Author

Listed:
  • Dawei Gong

    (School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China)

  • Yaru Song

    (School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China)

  • Minglei Zhu

    (School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China)

  • Yunlong Teng

    (School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China
    Shenzhen Institute for Advanced Study, University of Electronic Science and Technology of China, Shenzhen 518000, China)

  • Jinmao Jiang

    (School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China)

  • Shiliang Zhang

    (Department of Informatics, University of Oslo, 0313 Oslo, Norway)

Abstract

Aiming at the force-tracking error phenomenon of impedance control in an unknown surface environment, an adaptive variable-damping impedance control algorithm is proposed, and the stability and convergence of the algorithm are deduced. An adaptive-law selection rule is proposed to aim at the phenomenon that the adaptive parameters are too large to cause the system oscillation and overshoot and too small to cause the adaptive line variation in the curved surface environment. Finally, experiments conclude that the impedance control based on the adaptive variable-damping algorithm has a better force-tracking effect than the ordinary impedance control in the curved surface environment where the contact surface between the end-effector of the manipulator and the atmosphere is unknown.

Suggested Citation

  • Dawei Gong & Yaru Song & Minglei Zhu & Yunlong Teng & Jinmao Jiang & Shiliang Zhang, 2023. "Adaptive Variable-Damping Impedance Control for Unknown Interaction Environment," Mathematics, MDPI, vol. 11(24), pages 1-13, December.
    • Handle: RePEc:gam:jmathe:v:11:y:2023:i:24:p:4961-:d:1300461
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