Abstract
With the continuous application of robots, the accuracy requirements of robot control have been continuously improved. In the past, robot position control systems that can perform good palletizing, clamping, sorting, etc., have been unable to meet people’s needs. Therefore, based on theory, simulation and experimental verification, this paper proposes an adaptive hybrid impedance control algorithm based on subsystem dynamics model design, which reduces the computational complexity of the algorithm and solves the problem of inaccurate modeling. Related research and discussion in combination with grinding experiments for different surfaces.
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Luo, Z., Li, J., Bai, J., Wang, Y., Liu, L. (2019). Adaptive Hybrid Impedance Control Algorithm Based on Subsystem Dynamics Model for Robot Polishing. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11745. Springer, Cham. https://doi.org/10.1007/978-3-030-27529-7_15
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DOI: https://doi.org/10.1007/978-3-030-27529-7_15
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