Kim, Sehun Kim, Jong-Phil Ryu, Jeha 2024-01-20T09:04:08Z 2024-01-20T09:04:08Z 2022-01-25 2014-08 1083-4435 https://pubs.kist.re.kr/handle/201004/126500 Even though impedance control approaches are useful for robot interaction control, they can guarantee stability only for the assumed range of the environments. This paper presents a new adaptive energy-bounding approach (EBA) that can maintain a desired contact force at steady state while guaranteeing robust contact stability for impedance-controlled industrial robots that are contacting with very uncertain environments beyond the assumed range of the environments. The proposed adaptive EBA that is applied to impedance-controlled industrial robots interacting with incompletely specified real environments is an extension of the haptic EBA, which was previously developed for stable haptic interaction with virtual environments. Moreover, the adaptive EBA estimates online control parameters to improve performance while assuring stability for the system. Theoretical analyses on the performance and experimental results demonstrate the effectiveness of the proposed approach. English IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC Adaptive Energy-Bounding Approach for Robustly Stable Interaction Control of Impedance-Controlled Industrial Robot With Uncertain Environments Article 10.1109/TMECH.2013.2276935 1 IEEE-ASME TRANSACTIONS ON MECHATRONICS, v.19, no.4, pp.1195 - 1205 IEEE-ASME TRANSACTIONS ON MECHATRONICS 19 4 1195 1205 N scie scopus 000335915800009 2-s2.0-84900489691 Automation & Control Systems Engineering, Manufacturing Engineering, Electrical & Electronic Engineering, Mechanical Automation & Control Systems Engineering Article Haptics impedance control industrial robot passivity robust stability