An Adaptive Time-Varying Impedance Controller for Manipulators

Aiming at the situation that the structural parameters of the general manipulators are uncertain, a time-varying impedance controller based on model reference adaptive control (MRAC) is proposed in this article. The proposed controller does not need to use acceleration-based feedback or to measure e...

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Detalles Bibliográficos
Autores principales: Liang, Xu, Su, Tingting, Zhang, Zhonghai, Zhang, Jie, Liu, Shengda, Zhao, Quanliang, Yuan, Junjie, Huang, Can, Zhao, Lei, He, Guangping
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2022
Materias:
Neuroscience
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8971993/
https://www.ncbi.nlm.nih.gov/pubmed/35370593
http://dx.doi.org/10.3389/fnbot.2022.789842

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8971993/
https://www.ncbi.nlm.nih.gov/pubmed/35370593
http://dx.doi.org/10.3389/fnbot.2022.789842

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