Work

Adaptive Time Delay Impedance Control of Robot Manipulator via Voltage-Based Motor Control

Year: 2025

Type: article

Abstract: To accommodate the contact force between a robot and its environment, this paper presents an adaptive control framework for the impedance control of a manipulator with time delay estimation (TDE). To simplify the complex system model and yield adaptive feedback compensation, a voltage-based motor control approach was presented. Compared to the torque-based control model, the voltage-based control model is computationally more efficient and practically feasible. The proposed adaptive law was designed to compensate for the errors produced by the TDE. Through a stability analysis, the control framework was verified by semi-global uniform ultimate boundedness (SGUUB) stability. Experimental results are discussed, and the effectiveness of the adaptive control framework is demonstrated.

Source: Applied Sciences

DOI: 10.3390/app151810101

Author: Ming Pi

Institutions: University of Science and Technology of China, Southwest University of Science and Technology

Language: English

Topic: Teleoperation and Haptic Systems

Subfield: Mechanical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,896

Funders: Southwest University of Science and Technology, Southwest University, National Key Research and Development Program of China, Key Research and Development Program of Sichuan Province