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Force Control of Flexible Integrated Joint Based on Model-free Adaptive Control
Li YL(李英立)1,2,3; Zhao YW(赵忆文)1,2; Li K(李凯)1,2,3; Wang Z(王争)1,2; Zhao XG(赵新刚)1,2
Department机器人学研究室
Conference Name2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Conference DateDecember 12-15, 2018
Conference PlaceKuala Lumpur, Malaysia
Source PublicationProceedings of the 2018 IEEE International Conference on Robotics and Biomimetics
PublisherIEEE
Publication PlaceNew York
2018
Pages1425-1430
Indexed ByEI ; CPCI(ISTP)
EI Accession number20191506772189
WOS IDWOS:000468772200225
Contribution Rank1
ISBN978-1-7281-0376-1
AbstractThe flexible integrated joint (FIJ) is a key part of the collaborative robots, which has the characteristics of lightweight and highly integration. The force control is pivotal for achieving compliant interactions with environments and humans, such as impendence control and force tracking control. However, the controller design for force control of the flexible joint is a challenging issue with unmodeled uncertainties, nonlinear friction, time-varying load and other disturbances forced by environments in general. In this paper, a control scheme based on model-free adaptive control (MFAC) was developed for the force control of the FIJ. First, the model of the FIJ was transformed into a virtual dynamic linearization data model by a dynamic linearization approach. Second, a MFAC algorithm was designed for force control of the FIJ, including its corresponding pseudo gradient estimating algorithm and pseudo gradient resetting algorithm. To evaluate the performance of the proposed method, the experiments including zero force tracking and step force tracking were carried out in this research. The experimental results show that the developed control approach can get a high performance as the dynamical parameters of the FIJ are time-varying and uncertain.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/24655
Collection机器人学研究室
Corresponding AuthorLi YL(李英立)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
3.University of the Chinese Academy of Sciences, Beijing 100049, China
4.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China
5.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
6.University of the Chinese Academy of Sciences, Beijing 100049, China
7.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China
8.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
9.University of the Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Li YL,Zhao YW,Li K,et al. Force Control of Flexible Integrated Joint Based on Model-free Adaptive Control[C]. New York:IEEE,2018:1425-1430.
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