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1.025
Q1(Year 2015)
ISSN : 1026-3098
e-ISSN : 2345-3605
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Publication Information : Volume 22 - Number 2 - Successive Number 2
Type : Research Note
Topics of Paper : Transaction on Mechanical Engineering
English Title : An adaptive impedance control algorithm; Application in exoskeleton robot
English Abstract : Exoskeleton is a well-known example of an unconstrained robot for which the desired path is not predefined. Regarding these two effective features, a formulation for impedance control algorithm is presented and its prominence is demonstrated both mathematically and through simulation. Moreover it is essential to control this robot by an adaptive method because at least dynamic characteristics of the load are unknown. Unfortunately the existing methods do not address aforementioned traits or become unstable as inertia matrix becomes singular. Here an adaptive algorithm is generated based on the logic of Least Squares identification method rather than the Lyapunov stability criterion to tackle those limitations.
English Keywords : adaptive control, impedance control, modeling, exoskeleton
Refrences :
Number Of Pages :
From 519 to 529


Authors :
The AuthorAuthor SequenceOrganizationOrganization ( english )AffiliationEmailEducation
M. M. Ataei 1Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran  mmataei@alum.sharif.edu 
Dr. H. Salarieh
(Author)
2Department of Mechanical Engineering, Sharif University of Technology, Tehran, P.O. Box 11155-9567 Iran Associate Professorsalarieh@sharif.ir 
Prof. A. Alasty 3c. Department of Mechanical Engineering, Sharif University of Technology, Tehran, P.O. Box 11155-9567 Iran Professoraalasti@sharif.edu 
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