Nonlinear impedance control with trajectory adaptation for collaborative robotic grinding

Stiffness adjustment is an important feature of human arm control. The adaptive variable impedance control can adapt to the robotic stiffness, but may result in a large overshoot. In this paper, nonlinear impedance control is proposed for collaborative robotic grinding, where nonlinear force feedbac...

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Veröffentlicht in:	Science China. Technological sciences 2023-07, Vol.66 (7), p.1928-1936
Hauptverfasser:	Han, FengTao, Tam, SikYuen, Cao, ZhiHong, Zhao, XingWei, Tao, Bo, Ding, Han
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptation Adaptive control Collaboration Engineering Grinding Impedance Nonlinear control Robotics Robots Stiffness Systems stability Tracking Trajectory control Turbine blades
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