Robot adaptive robust admittance control based on optimal impedance selection
YANG Li-hong
WANG Ze-kai
SUN Tai-ren
HU Yue
YANG Jian-tao
Abstract：In this paper,an adaptive robust admittance control strategy based on optimal impedance selection is proposed to improve the performance of robot-environment interaction.The innovations of this paper include:1)A new composite learning estimation method for environmental impedance is proposed to ensure that the impedance estimator is constrained within a predetermined set,and the exponential convergence of the estimation error is guaranteed by the initial excitation;2)Based on the estimated environmental impedance,the stiffness and damping required by the robot are designed,and converge to the optimal stiffness and damping is obtained by minimizing the performance function of the interaction force and the cost function of the trajectory tracking error;3)An adaptive robust admittance controller based on time-delay estimation is designed to enable the robot to track the admittance trajectory with prescribed performance.In the adaptive robust controller,the saturation function is used to replace the traditional sliding mode control,which greatly alleviates the possible chattering problem.The effectiveness of the environmental impedance estimation method and adaptive robust admittance control is verified by comparative simulation.
Keywords：impedance controladmittance controladaptive controloptimal impedancetime delay estimation
Publication Date：2025-01-27
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 181-188 )