Uncertain Object Manipulation Using Adaptive Multiple Impedance Control

In order to effectively manage the robot's interaction with an unfamiliar environment without the need to model said environment, we are considering an adaptive multiple impedance model. Our primary focus is to thoroughly investigate the physical interaction between the robot and the environment. In this context, the environment is viewed as a system that undergoes time variations and ultimately be transformed into the state space. Through the implementation of an adaptive impedance controller on the robot, our central objective of minimizing error is successfully attained. Consequently, the desired objective is closely monitored and maintained even in the presence of external forces. The proposed adaptive impedance applies elements to adjust the robot's impedance forces, ensuring the attainment of the desired model despite the unpredictability of the environment. As a result of our approach, system errors will be diminished and the overall stability of the system will be effectively preserved.