DIRECT ADAPTIVE IMPEDANCE CONTROL INCLUDING TRANSITION PHASES

This paper presents a new direct adaptive impedance controller for for ce/position task that includes transition phases from free to constrai ned motions. This scheme ensures global asymptotic stability without t he need for a priori knowledge of environment stiffness. One of the ma jor consequence of this study is that a generalization of the time-var ying impedance leads to integral force feedback. Experimental results on a two-degree-of-freedom planar manipulator are reported. (C) 1997 E lsevier Science Ltd.