Adaptive Impedance Control for Unknown Non-Flat Environment

Abstract

This paper presents a new adaptive impedance control strategy, based on Function Approximation Technique (FAT) to compensate for unknown non-flat environment shape or time-varying environment location. The target impedance in the force controllable direction is modified by incorporating adaptive compensators and the uncertainties are represented by FAT… (More)

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Cite this paper

@inproceedings{Azlan2013AdaptiveIC, title={Adaptive Impedance Control for Unknown Non-Flat Environment}, author={Norsinnira Z. Azlan and Hiroshi Yamaura}, year={2013} }