Adaptive Time Delay Impedance Control of Robot Manipulator via Voltage-Based Motor Control

To accommodate the contact force between a robot and its environment, this paper presents an adaptive control framework for the impedance control of a manipulator with time delay estimation (TDE). To simplify the complex system model and yield adaptive feedback compensation, a voltage-based motor control approach was presented. Compared to the torque-based control model, the voltage-based control model is computationally more efficient and practically feasible. The proposed adaptive law was designed to compensate for the errors produced by the TDE. Through a stability analysis, the control framework was verified by semi-global uniform ultimate boundedness (SGUUB) stability. Experimental results are discussed, and the effectiveness of the adaptive control framework is demonstrated.