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JIRS
1998

Application of Model Reference Adaptive Control to Industrial Robot Impedance Control

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Application of Model Reference Adaptive Control to Industrial Robot Impedance Control
Abstract. The paper deals with the application of model reference adaptive control to robot impedance control, which is actually a technique of steering the end-effector on a prescribed path and satisfying a prescribed dynamic relationship between the force and the end-effector position. Due to unknown parameters of the environment (stiffness, exact position), a model reference algorithm is proposed which differs from classical algorithms in its method of excitation. The results of the proposed procedure are illustrated by implementation on the ASEA IRb 6 industrial robot. Key words: industrial robots, robot impedance control, model reference adaptive control, constrained motion.
Roman Kamnik, Drago Matko, Tadej Bajd
Added 22 Dec 2010
Updated 22 Dec 2010
Type Journal
Year 1998
Where JIRS
Authors Roman Kamnik, Drago Matko, Tadej Bajd
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