SUMMARYThis paper presents a robust adaptive impedance controller for electrically driven robots using polynomials of degree N as a universal approximator. According to the universal approximation theorem, polynomials of degree N can approximate uncertainties including un-modeled dynamics and external disturbances. This fact is completely discussed and proved in this paper. The polynomial coefficients are estimated based on the adaptive law calculated in the stability analysis. A performance evaluation has been carried out to verify satisfactory performance of the controller. Simulation results on a two degree of freedom manipulator have been presented to guarantee its successful implementation.

中文翻译：

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电动机器人基于多项式的鲁棒自适应阻抗控制

总结本文提出了一种用于电驱动机器人的鲁棒自适应阻抗控制器，它使用 N 次多项式作为通用逼近器。根据通用逼近定理，N次多项式可以逼近不确定性，包括未建模的动力学和外部干扰。这一事实在本文中得到了充分的讨论和证明。多项式系数是根据稳定性分析中计算的自适应律估计的。已进行性能评估以验证控制器的令人满意的性能。给出了二自由度机械臂的仿真结果，以保证其成功实施。