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In this paper an artificial delay based impedance controller is proposed forrobotic manipulators with uncertainty in dynamics. The control law unites thetime delayed estimation (TDE) framework with a second order switchingcontroller of super twisting algorithm (STA) type via a novel generalizedfiltered tracking error (GFTE). While time delayed estimation frameworkeliminates the need for accurate modelling of robot dynamics by estimating theuncertain robot dynamics and interaction forces from immediate past data ofstate and control effort, the second order switching control law in the outerloop provides robustness against the time delayed estimation (TDE) error thatarises due to approximation of the manipulator dynamics. Thus, the proposedcontrol law tries to establish a desired impedance model between the robot endeffector variables i.e. force and motion in presence of uncertainties, bothwhen it is encountering smooth contact forces and during free motion.Simulation results for a two link manipulator using the proposed controlleralong with convergence analysis are shown to validate the proposition.

Robust Artificial Delay based Impedance Control of Robotic Manipulators with Uncertain Dynamics