Adaptive Impedance Controller design of robot's manipulator using nominal information

This paper investigates the adaptive impedance control dealing with parameter uncertainties of robot's manipulator. The system uncertainty is modeled as nominal part and unknown part where the known information is provided as basic feedback while adaptive design is put on the estimation. By writing the unknown part into linearly parameterized form, the adaptive controller is designed. The simulation test is presented to show the effectiveness of the proposed approach.