FAT based adaptive impedance control for unknown environment position
This paper presents the Function Approximation Technique (FAT) based adaptive impedance control for a robotic finger. The force based impedance control is developed so that the robotic finger tracks the desired force while following the reference position trajectory, under unknown environment posit...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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World Academy of Science, Engineering and Technology
2012
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/47726/ http://irep.iium.edu.my/47726/1/fat_based_adaptive_2.pdf |
| _version_ | 1848783193764790272 |
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| author | Zainul Azlan, Norsinnira Yamaura, Hiroshi |
| author_facet | Zainul Azlan, Norsinnira Yamaura, Hiroshi |
| author_sort | Zainul Azlan, Norsinnira |
| building | IIUM Repository |
| collection | Online Access |
| description | This paper presents the Function Approximation
Technique (FAT) based adaptive impedance control for a robotic finger. The force based impedance control is developed so that the robotic finger tracks the desired force while following the reference position trajectory, under unknown environment position and uncertainties in finger parameters. The control strategy is divided into two phases, which are the free and contact phases. Force error feedback is utilized in updating the uncertain environment position during contact phase. Computer simulations results are presented to demonstrate the effectiveness of the proposed technique. |
| first_indexed | 2025-11-14T16:17:28Z |
| format | Article |
| id | iium-47726 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T16:17:28Z |
| publishDate | 2012 |
| publisher | World Academy of Science, Engineering and Technology |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-477262016-03-16T07:05:56Z http://irep.iium.edu.my/47726/ FAT based adaptive impedance control for unknown environment position Zainul Azlan, Norsinnira Yamaura, Hiroshi TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering This paper presents the Function Approximation Technique (FAT) based adaptive impedance control for a robotic finger. The force based impedance control is developed so that the robotic finger tracks the desired force while following the reference position trajectory, under unknown environment position and uncertainties in finger parameters. The control strategy is divided into two phases, which are the free and contact phases. Force error feedback is utilized in updating the uncertain environment position during contact phase. Computer simulations results are presented to demonstrate the effectiveness of the proposed technique. World Academy of Science, Engineering and Technology 2012 Article PeerReviewed application/pdf en http://irep.iium.edu.my/47726/1/fat_based_adaptive_2.pdf Zainul Azlan, Norsinnira and Yamaura, Hiroshi (2012) FAT based adaptive impedance control for unknown environment position. International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering, 6 (8). 1538 -1543. ISSN 2010-3778 (O), 2010-376X (P) http://waset.org/publications/5696/fat-based-adaptive-impedance-control-for-unknown-environment-position |
| spellingShingle | TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering Zainul Azlan, Norsinnira Yamaura, Hiroshi FAT based adaptive impedance control for unknown environment position |
| title | FAT based adaptive impedance control for unknown environment position |
| title_full | FAT based adaptive impedance control for unknown environment position |
| title_fullStr | FAT based adaptive impedance control for unknown environment position |
| title_full_unstemmed | FAT based adaptive impedance control for unknown environment position |
| title_short | FAT based adaptive impedance control for unknown environment position |
| title_sort | fat based adaptive impedance control for unknown environment position |
| topic | TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering |
| url | http://irep.iium.edu.my/47726/ http://irep.iium.edu.my/47726/ http://irep.iium.edu.my/47726/1/fat_based_adaptive_2.pdf |