Adaptive force/motion control of constrained robot manipulators

H. Yu, L. D. Seneviratne, S. W.E. Earales

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Following the line of the dynamic hybrid control method given by McClamorch and Wang, two reduced, unconstrained robot models, in which the constraints are satisfied automatically, are introduced. An exponentially stable control law for both position tracking errors and force tracking errors is presented based on Lyapunov stability theory. When there exist robot dynamics parameters uncertainties, an adaptive control is proposed based on the previous control structure. The control law ensures the asymptotical convergence of the position tracking errors and boundedness of the force tracking errors.

Original languageBritish English
Title of host publicationProceedings of the IEEE Conference on Control Applications
Pages505-510
Number of pages6
StatePublished - 1993
EventProceedings of the IEEE Conference on Control Applications. Part 2 (of 2) - Vancouver, BC, Can
Duration: 13 Sep 199316 Sep 1993

Publication series

NameProceedings of the IEEE Conference on Control Applications
Volume2

Conference

ConferenceProceedings of the IEEE Conference on Control Applications. Part 2 (of 2)
CityVancouver, BC, Can
Period13/09/9316/09/93

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