Hammerstein Adaptive Impedance Controller for Bionic Wrist Joint Actuated by Pneumatic Muscles
For the nonlinear, time-variable and unpredictable environment (such as the manipulator workspace that has many random and moveable obstacles), a Hammerstein adaptive (HA) impedance controller based on a Hammerstein impedance model is proposed in this paper. The model consists of a static nonlinear...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2019-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8543678/ |