Impedance with Finite-Time Control Scheme for Robot-Environment Interaction
For the robot system with the uncertain model and unknown environment parameters, a control scheme combining impedance and finite time is proposed. In order to obtain accurate force control performance indirectly by using position tracking, the control scheme is divided into two parts: an outer loop...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2020-01-01
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| Series: | Mathematical Problems in Engineering |
| Online Access: | http://dx.doi.org/10.1155/2020/2796590 |