FAT based adaptive impedance control for unknown environment position

This paper presents the Function Approximation Technique (FAT) based adaptive impedance control for a robotic finger. The force based impedance control is developed so that the robotic finger tracks the desired force while following the reference position trajectory, under unknown environment posit...

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Main Authors:	Zainul Azlan, Norsinnira, Yamaura, Hiroshi
Format:	Article
Language:	English
Published:	World Academy of Science, Engineering and Technology 2012
Subjects:	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://irep.iium.edu.my/47726/ http://irep.iium.edu.my/47726/ http://irep.iium.edu.my/47726/1/fat_based_adaptive_2.pdf

id	iium-47726
recordtype	eprints
spelling	iium-477262016-03-16T07:05:56Z http://irep.iium.edu.my/47726/ FAT based adaptive impedance control for unknown environment position Zainul Azlan, Norsinnira Yamaura, Hiroshi TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering This paper presents the Function Approximation Technique (FAT) based adaptive impedance control for a robotic finger. The force based impedance control is developed so that the robotic finger tracks the desired force while following the reference position trajectory, under unknown environment position and uncertainties in finger parameters. The control strategy is divided into two phases, which are the free and contact phases. Force error feedback is utilized in updating the uncertain environment position during contact phase. Computer simulations results are presented to demonstrate the effectiveness of the proposed technique. World Academy of Science, Engineering and Technology 2012 Article PeerReviewed application/pdf en http://irep.iium.edu.my/47726/1/fat_based_adaptive_2.pdf Zainul Azlan, Norsinnira and Yamaura, Hiroshi (2012) FAT based adaptive impedance control for unknown environment position. International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering, 6 (8). 1538 -1543. ISSN 2010-3778 (O), 2010-376X (P) http://waset.org/publications/5696/fat-based-adaptive-impedance-control-for-unknown-environment-position
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering Zainul Azlan, Norsinnira Yamaura, Hiroshi FAT based adaptive impedance control for unknown environment position
description	This paper presents the Function Approximation Technique (FAT) based adaptive impedance control for a robotic finger. The force based impedance control is developed so that the robotic finger tracks the desired force while following the reference position trajectory, under unknown environment position and uncertainties in finger parameters. The control strategy is divided into two phases, which are the free and contact phases. Force error feedback is utilized in updating the uncertain environment position during contact phase. Computer simulations results are presented to demonstrate the effectiveness of the proposed technique.
format	Article
author	Zainul Azlan, Norsinnira Yamaura, Hiroshi
author_facet	Zainul Azlan, Norsinnira Yamaura, Hiroshi
author_sort	Zainul Azlan, Norsinnira
title	FAT based adaptive impedance control for unknown environment position
title_short	FAT based adaptive impedance control for unknown environment position
title_full	FAT based adaptive impedance control for unknown environment position
title_fullStr	FAT based adaptive impedance control for unknown environment position
title_full_unstemmed	FAT based adaptive impedance control for unknown environment position
title_sort	fat based adaptive impedance control for unknown environment position
publisher	World Academy of Science, Engineering and Technology
publishDate	2012
url	http://irep.iium.edu.my/47726/ http://irep.iium.edu.my/47726/ http://irep.iium.edu.my/47726/1/fat_based_adaptive_2.pdf
first_indexed	2023-09-18T21:07:53Z
last_indexed	2023-09-18T21:07:53Z
_version_	1777411055719284736

FAT based adaptive impedance control for unknown environment position

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