An adaptive impedance controller for robot manipulators

A desired dynamic behaviour of constrained manipulators can be achieved by means of impedance control. Various implementations of fixed controllers have been proposed. In this paper, an adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator model mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic model of rigid robot manipulators. Simulation results are presented to show the performance of the adaptive controller under ideal as well as actual conditions like elastic Joints, friction and algorithm discretization effects.