ADAPTIVE FORCE TRACKING IN IMPEDANCE CONTROL

This paper presents an adaptive method to correct large force error in impedance control.It modifies the reference position according to the force error on line so that contact force between the manipulator and the environment can track the reference force.And it is robust to the uncertainties such as compensation error,disturbance and knowledge of the environment.This method satisfies the requirement of the realtime control because of its short computation time.Experiment results verify its efficiency.