Adaptive sliding mode impedance control of single-link flexible manipulators interacting with the environment at an unknown intermediate point

Journal article (2019)

Authors

Ali Fayazi Vali-e-Asr University of Rafsanjan, Rafsanjan
Naser Pariz Ferdowsi University of Mashhad
Ali Karimpour Ferdowsi University of Mashhad
Vicente Feliu-Batlle Ferdowsi University of Mashhad
S. Hassan HosseinNia Universidad de Castilla-La Mancha, Ferdowsi University of Mashhad, Mechatronic Systems Design - Mechanical, Maritime and Materials Engineering
Research Group
Mechatronic Systems Design (Mechanical, Maritime and Materials Engineering) (TU Delft)
Impedance control Disturbance observer Adaptive sliding mode controller Single-link flexible manipulators Unknown intermediate point
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Published Date

2019

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Precision and Microsystems Engineering

Research Group

Mechatronic Systems Design

Abstract

This paper proposes an adaptive robust impedance control for a single-link flexible arm when it encounters an environment at an unknown intermediate point. First, the intermediate collision point is estimated using a collision detection algorithm. The controller, then, switches from free to constrained motion mode. In the unconstrained motion mode, the exerted force to environment is nearly zero. Thus, the reference trajectory is a prescribed desired trajectory in position control. In the constrained motion mode, the reference trajectory is determined by the desired target dynamic impedance. The simulation results demonstrate the efficiency of proposed control scheme.