Title

Comments On “Impedance Control With Adaptation For Robotic Manipulations”

Abstract

This comment points out an error in the adaptive impedance control approach for robotic manipulators given in the short paper by Lu and Meng. In that work, the authors assert that their adaptive impedance control scheme can compensate for uncertainty in the force measurements; however, we show that it is possible for the uncertainty in the force measurements to cause the parameter estimates to go unbounded. To remedy this possible instability problem, we suggest an additional auxiliary controller. © 1991 IEEE

Publication Date

1-1-1991

Publication Title

IEEE Transactions on Robotics and Automation

Volume

7

Issue

6

Number of Pages

879-881

Document Type

Note

Personal Identifier

scopus

DOI Link

https://doi.org/10.1109/70.105399

Socpus ID

0026365576 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/0026365576

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