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SCIENCE CHINA Information Sciences, Volume 63 , Issue 9 : 192205(2020) https://doi.org/10.1007/s11432-019-2639-6

Learning impedance control of robots with enhanced transient and steady-state control performances

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  • ReceivedMar 30, 2019
  • AcceptedAug 5, 2019
  • PublishedJul 24, 2020

Abstract

This study proposes a learning impedance controller comprising a proportional feedback control term, a composite-learning-based uncertainty estimation term, and a robot-environment interaction control term. The impedance control problem is converted into a particular reference-trajectory tracking problem based on a generated reference trajectory. The proposed controller ensures the exponential convergence of the auxiliary tracking error and the uncertainty estimation error. The interaction control term improves the transient control performance through suppression/encouragement of the incorrect/correct robot movements. The composite-learning update law enhances the transient and steady-state control performances based on the exponential convergence of the uncertainty estimation error and auxiliary tracking error. Finally, the effectiveness and advantages of the proposed impedance controller are validated by theoretical analysis and simulations on a parallel robot.


Acknowledgment

This work was supported in part by National Natural Science Foundation of China (Grant Nos. 61720106012, 61873268, 61633016), Beijing Natural Science Foundation (Grant No. L182060), Strategic Priority Research Program of Chinese Academy of Sciences (Grant No. XDB32040000), and China Postdoctoral Science Foundation (Grant No. 2019T120405).


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