SUMMARYThis paper presents a bi-level adaptive computed-current impedance controller for electrically driven robots. This study aims to reduce calculation complexities by utilizing the electrical equations of actuators, instead of the entire model of the electromechanical system. Moreover, taking the dynamical effects of mechanical parts into account through the current’s feedback, external disturbances are compensated. In order to handle uncertainties, a bi-level optimization problem is formulated to obtain guaranteed stability besides the estimation convergence. An adaptation rule and its optimal tuning gain are achieved. The proposed method is applied to control of a rehabilitation robot to evaluate its performance.

中文翻译：

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用于电动机器人的双电平自适应计算电流阻抗控制器

摘要本文提出了一种用于电动机器人的双层自适应计算电流阻抗控制器。本研究旨在通过利用执行器的电气方程而不是机电系统的整个模型来降低计算复杂性。此外，通过电流反馈考虑机械部件的动态效应，补偿外部干扰。为了处理不确定性，制定了一个双层优化问题，以获得除了估计收敛之外的保证稳定性。实现了自适应规则及其最佳调谐增益。将所提出的方法应用于康复机器人的控制以评估其性能。