This chapter addresses important concepts and properties of the environment in robot interaction control. The impedance concept is commonly used in the electric field. The mechanical impedance and admittance models are very useful in environment interaction applications. The environment model is one component of Force control, human‐robot interaction, and medical robotics which are examples of an interaction control strategy. A robot that is controlled by an impedance is the second‐order dynamics that gives a relation between the position of the end‐effector and the external force. The impedance and admittance give us a physical approach to understand how the environment parameters affect the behavior of the interaction. The chapter introduces off‐line and online parameter identification methods to obtain the environment parameters. The gradient method is also known as adaptive identification. This method is used for adaptive control.
Environment Model of Human‐Robot Interaction
2021-10-05
16 pages
Article/Chapter (Book)
Electronic Resource
English
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