DocumentCode
1983506
Title
Hybrid force/position control for manipulators with motor dynamics using a sliding-adaptive approach
Author
Kwan, C.M.
Author_Institution
Autom. & Robotic. Res. Inst., Texas Univ., Arlington, TX, USA
Volume
1
fYear
1995
fDate
21-23 Jun 1995
Firstpage
365
Abstract
A novel sliding-adaptive controller is developed which can achieve robustness to parameter variations in both manipulator and motor. When the system is in sliding mode, force, position and redundant joint velocity errors will approach zero irrespective of parametric uncertainties. No joint acceleration measurement is needed
Keywords
adaptive control; force control; manipulators; position control; robust control; variable structure systems; hybrid force/position control; manipulators; motor dynamics; redundant joint velocity errors; robustness; sliding-adaptive approach; Adaptive control; Force control; Manipulator dynamics; Orbital robotics; Position control; Programmable control; Robotics and automation; Robots; Robust control; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, Proceedings of the 1995
Conference_Location
Seattle, WA
Print_ISBN
0-7803-2445-5
Type
conf
DOI
10.1109/ACC.1995.529271
Filename
529271
Link To Document