Adaptive Hybrid Impedance Control Algorithm Based on Subsystem Dynamics Model for Robot Polishing

  • Zihao LuoEmail author
  • Jianfei Li
  • Jie Bai
  • Yaobing Wang
  • Li Liu
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11745)


With the continuous application of robots, the accuracy requirements of robot control have been continuously improved. In the past, robot position control systems that can perform good palletizing, clamping, sorting, etc., have been unable to meet people’s needs. Therefore, based on theory, simulation and experimental verification, this paper proposes an adaptive hybrid impedance control algorithm based on subsystem dynamics model design, which reduces the computational complexity of the algorithm and solves the problem of inaccurate modeling. Related research and discussion in combination with grinding experiments for different surfaces.


Subsystem kinetic model Adaptive control Hybrid impedance control Robot polishing system 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Zihao Luo
    • 1
    Email author
  • Jianfei Li
    • 1
  • Jie Bai
    • 1
  • Yaobing Wang
    • 1
  • Li Liu
    • 1
  1. 1.Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and ApplicationsBeijing Institute of Spacecraft System EngineeringBeijingChina

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