APPLICATION OF MODEL-REFERENCE ADAPTIVE-CONTROL TO INDUSTRIAL ROBOT IMPEDANCE CONTROL

The paper deals with the application of model reference adaptive contr ol to robot impedance control, which is actually a technique of steeri ng the end-effector on a prescribed path and satisfying a prescribed d ynamic relationship between the force and the end-effector position. D ue to unknown parameters of the environment (stiffness, exact position ), a model reference algorithm is proposed which differs from classica l algorithms in its method of excitation. The results of the proposed procedure are illustrated by implementation on the ASEA IRb 6 industri al robot.