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Bi-Level Adaptive Computed-Current Impedance Controller for Electrically Driven Robots

Published online by Cambridge University Press:  28 May 2020

Mohsen Jalaeian-F. Open the ORCID record for Mohsen Jalaeian-F. [Opens in a new window] ,
Mohammad Mehdi Fateh  and
Morteza Rahimiyan
Mohsen Jalaeian-F.*
Affiliation:
Department of Electrical and Robotic Engineering, Shahrood University of Technology, Shahrood 3619995161, Iran, E-mails: mmfateh@shahroodut.ac.ir, morteza.rahimiyan@shahroodut.ac.ir
Mohammad Mehdi Fateh
Affiliation:
Department of Electrical and Robotic Engineering, Shahrood University of Technology, Shahrood 3619995161, Iran, E-mails: mmfateh@shahroodut.ac.ir, morteza.rahimiyan@shahroodut.ac.ir
Morteza Rahimiyan
Affiliation:
Department of Electrical and Robotic Engineering, Shahrood University of Technology, Shahrood 3619995161, Iran, E-mails: mmfateh@shahroodut.ac.ir, morteza.rahimiyan@shahroodut.ac.ir
*
*Corresponding author. E-mail: m.jalaeian@yahoo.com
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Summary

This paper presents a bi-level adaptive computed-current impedance controller for electrically driven robots. This study aims to reduce calculation complexities by utilizing the electrical equations of actuators, instead of the entire model of the electromechanical system. Moreover, taking the dynamical effects of mechanical parts into account through the current’s feedback, external disturbances are compensated. In order to handle uncertainties, a bi-level optimization problem is formulated to obtain guaranteed stability besides the estimation convergence. An adaptation rule and its optimal tuning gain are achieved. The proposed method is applied to control of a rehabilitation robot to evaluate its performance.

Keywords

Electrically driven robots (EDRs)Rehabilitation robotBi-level optimization problem (BLOP)Bi-level adaptive controlImpedance control

Information

Type
Articles
Information
Robotica , Volume 39 , Issue 2 , February 2021 , pp. 200 - 216
Copyright
Copyright © The Author(s), 2020. Published by Cambridge University Press

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