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FAT based adaptive impedance control for unknown environment position

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)

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Abstract

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.

Item Type: Article (Journal)
Additional Information: 4494/47726
Uncontrolled Keywords: Adaptive impedance control, force based impedance control, force control, Function Approximation Technique (FAT), unknown environment position
Subjects: T Technology > TJ Mechanical engineering and machinery
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Kulliyyahs/Centres/Divisions/Institutes: Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Norsinnira Zainul Azlan
Date Deposited: 16 Mar 2016 15:05
Last Modified: 16 Mar 2016 15:05
URI: http://irep.iium.edu.my/id/eprint/47726

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