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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
Department机器人学研究室
Conference Name2019 Chinese Automation Congress, CAC 2019
Conference DateNovember 22-24, 2019
Conference PlaceHangzhou, China
Source PublicationProceedings - 2019 Chinese Automation Congress, CAC 2019
PublisherIEEE
Publication PlaceNew York
2019
Pages41-44
Indexed ByEI
EI Accession number20201008253336
Contribution Rank1
ISBN978-1-7281-4094-0
KeywordCompliance control Impedance control backstepping Flexible joint
AbstractIn 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
Identifierhttp://ir.sia.cn/handle/173321/26405
Collection机器人学研究室
Corresponding AuthorZhao XG(赵新刚)
Affiliation1.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.
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