Title :
Prescribed performance adaptive control for robot force/position tracking
Author :
Bechlioulis, C. ; Doulgeri, Z. ; Rovithakis, G.
Author_Institution :
Dept. of Electr. & Comput. Eng., Aristotle Univ. of Thessaloniki, Thessaloniki, Greece
Abstract :
In this paper, we propose an adaptive control law that achieves prescribed performance indices regarding the transient and steady state response of the robot force/position tracking errors and ensures no loss of contact of the robot end effector. A compliant contact with a planar surface is assumed and the control objective is satisfied under parametric uncertainties in the robot dynamics and the force deformation model. Simulation results confirm the theoretical findings and compare the proposed controller with a conventional one.
Keywords :
adaptive control; compliance control; end effectors; errors; force control; performance index; position control; robot dynamics; uncertain systems; compliant contact; force deformation model; performance adaptive control law; planar surface; position tracking error; robot dynamic; robot end effector; robot force tracking; steady state response; uncertain parameter; Adaptive control; End effectors; Force control; Force measurement; Force sensors; Intelligent robots; Performance loss; Steady-state; Transmission line matrix methods; Uncertainty;
Conference_Titel :
Control Applications, (CCA) & Intelligent Control, (ISIC), 2009 IEEE
Conference_Location :
St. Petersburg
Print_ISBN :
978-1-4244-4601-8
Electronic_ISBN :
978-1-4244-4602-5
DOI :
10.1109/CCA.2009.5281169
