Adaptation to environment stiffness in the control of manipulators

The dynamic performance of fixed-gain force or impedance manipulator control systems in constrained situations is very dependent on the environment parameters: e.g. the force response at low stiffnesses may be sluggish, while high stiffnesses give rise to bouncing and instability. An adaptive controller, based on the model reference approach, for multi-axis damping control is presented. Simulation results show that the adaptive scheme can …