Adaptive compliance learning control using Newton-Euler model

摘要

In this article, an iterative learning control method using Newton-Euler model is proposed to apply in compliance interaction tasks. With the optimal impedance control model, the desired compliance performance would be able to be obtained. A learning impedance control law is investigated for estimating the system's unknown parameters. What's more, the control method proposed in this paper does not require the accurate measurement of the contact force. By applying Newton-Euler model to describe the manipulator model, the method will be more efficient. A rigorous analysis is also given in this paper. The validity of the proposed method is verified by simulations.