DocumentCode
3118613
Title
Parallel force and motion control using adaptive observer-controller
Author
Xia, Qing Hua ; Lim, Ser Yong ; Ang, Marcelo H., Jr. ; Lim, Tao Ming
Author_Institution
Mech. Eng. Dept., Nat. Univ. of Singapore, Singapore
fYear
2008
fDate
12-15 Oct. 2008
Firstpage
3143
Lastpage
3149
Abstract
A parallel force and motion control algorithm using observed velocity is presented in this paper. Experimental results show improved control performance in both force and motion subspaces compared with the same controller using filtered velocity.
Keywords
adaptive control; force control; motion control; observers; adaptive observer-controller; motion control; observed velocity; parallel force control; Adaptive control; Force control; Force feedback; Friction; Mechanical engineering; Motion control; Orbital robotics; Programmable control; Pulp manufacturing; Velocity control; Parallel force and motion control; adaptive control; friction compensation; geometric uncertainty; observer velocity;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man and Cybernetics, 2008. SMC 2008. IEEE International Conference on
Conference_Location
Singapore
ISSN
1062-922X
Print_ISBN
978-1-4244-2383-5
Electronic_ISBN
1062-922X
Type
conf
DOI
10.1109/ICSMC.2008.4811779
Filename
4811779
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