Adaptive impedance control for unknown time-varying environment position and stiffness
This study is concerned with a new adaptive impedance control strategy to compensate for unknown time-varying environment stiffness and position. The uncertainties are expressed by Function Approximation Technique (FAT), which allows the update laws to be derived easily using Lyapunov stability the...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
World Academy of Science, Engineering and Technology
2013
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/47712/ http://irep.iium.edu.my/47712/ http://irep.iium.edu.my/47712/1/adative_impedance_control_1.pdf |