Open Science Research Excellence
@article{(International Science Index):http://waset.org/publications/5696,
  title    = {FAT based Adaptive Impedance Control for Unknown Environment Position},
  author    = {N. Z. Azlan and  H. Yamaura},
  country   = {},
  institution={},
  abstract  = {This paper presents the Function Approximation
Technique (FAT) based adaptive impedance control for a robotic
finger. The force based impedance control is developed so that the
robotic finger tracks the desired force while following the reference
position trajectory, under unknown environment position and
uncertainties in finger parameters. The control strategy is divided into
two phases, which are the free and contact phases. Force error
feedback is utilized in updating the uncertain environment position
during contact phase. Computer simulations results are presented to
demonstrate the effectiveness of the proposed technique.},
    journal   = {International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering},  volume    = {6},
  number    = {8},
  year      = {2012},
  pages     = {1538 - 1543},
  ee        = {http://waset.org/publications/5696},
  url       = {http://waset.org/Publications?p=68},
  bibsource = {http://waset.org/Publications},
  issn      = {eISSN:1307-6892},
  publisher = {World Academy of Science, Engineering and Technology},
  index     = {International Science Index 68, 2012},
}