Adaptive sliding mode impedance control of single-link flexible manipulators interacting with the environment at an unknown intermediate point

Ali Fayazi, Naser Pariz, Ali Karimpour, Vicente Feliu-Batlle, Hassan Hossein Nia Kani

Research output: Contribution to journalArticleScientificpeer-review

2 Citations (Scopus)

Abstract

This paper proposes an adaptive robust impedance control for a single-link flexible arm when it encounters an environment at an unknown intermediate point. First, the intermediate collision point is estimated using a collision detection algorithm. The controller, then, switches from free to constrained motion mode. In the unconstrained motion mode, the exerted force to environment is nearly zero. Thus, the reference trajectory is a prescribed desired trajectory in position control. In the constrained motion mode, the reference trajectory is determined by the desired target dynamic impedance. The simulation results demonstrate the efficiency of proposed control scheme.
Original languageEnglish
Pages (from-to)1642-1644
JournalRobotica
Volume38 (2020)
Issue number9
DOIs
Publication statusPublished - 2019

Keywords

  • Impedance control
  • Adaptive sliding mode controller
  • Single-link flexible manipulators
  • Unknown intermediate point
  • Disturbance observer

Fingerprint

Dive into the research topics of 'Adaptive sliding mode impedance control of single-link flexible manipulators interacting with the environment at an unknown intermediate point'. Together they form a unique fingerprint.

Cite this