An adaptive impedance control scheme for constrained robots

Abstract

This paper addresses the issue of position/force tracking for a constrained robot within the framework of impedance control. An adaptive controller is developed in which a varying desired impedance is adaptively tuned with the robot’s position tracking error. It guarantees the asymptotic convergence of the robot position tracking error and the boundedness of the constraint force tracking error. Simulation results are provided to verify the effectiveness of the scheme.