| Flexible-joint Impedance Control Based on Backstepping Method | |
Hou C(侯澈)1,2 ; Zhao YW(赵忆文)1; Zhang B(张弼)1; Zhao XG(赵新刚)1; Li YL(李英立)1
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| Department | 机器人学研究室 |
| Conference Name | 2019 Chinese Automation Congress, CAC 2019 |
| Conference Date | November 22-24, 2019 |
| Conference Place | Hangzhou, China |
| Source Publication | Proceedings - 2019 Chinese Automation Congress, CAC 2019 |
| Publisher | IEEE |
| Publication Place | New York |
| 2019 | |
| Pages | 41-44 |
| Indexed By | EI |
| EI Accession number | 20201008253336 |
| Contribution Rank | 1 |
| ISBN | 978-1-7281-4094-0 |
| Keyword | Compliance control Impedance control backstepping Flexible joint |
| Abstract | In this paper, an impedance control method based on backstepping approach is proposed aiming at the problems of compliance control when the flexible joint contacts with the environment. The stability of the controller is proved based on Lyapunov stability theory. The controller design combines stability of a Lyapunov function and the desired dynamic of impedance model. The experiment results show the effectiveness and feasibility of the proposed control approach. |
| Language | 英语 |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/26405 |
| Collection | 机器人学研究室 |
| Corresponding Author | Zhao XG(赵新刚) |
| Affiliation | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 2.University of Chinese Academy of Sciences, Beijing, China. |
| Recommended Citation GB/T 7714 | Hou C,Zhao YW,Zhang B,et al. Flexible-joint Impedance Control Based on Backstepping Method[C]. New York:IEEE,2019:41-44. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| Flexible-joint Imped（559KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Application Full Text | ||
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