Adaptive Variable-Damping Impedance Control for Unknown Interaction Environment

Dawei Gong, Yaru Song, Minglei Zhu (), Yunlong Teng, Jinmao Jiang and Shiliang Zhang
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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
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

Mathematics, 2023, vol. 11, issue 24, 1-13

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.

Keywords: adaptive variable damping; compliant force control; impedance control (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
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