Title :
Dynamic and adaptive force controllers for robotic manipulators
Author :
Liu, Mei-Hua ; Chang, Wen-Sen ; Zhang, Liang-Qi
Author_Institution :
Dept. of Autom. Control, Changsha Inst. of Technol., China
Abstract :
A unified dynamic force control structure is proposed, based on which three force controllers with different dynamics compensations are developed. To deal with the instability problem caused by high environmental stiffness and the robustness problem introduced by model uncertainty, two adaptive force controllers are proposed. Some typical simulation results on a manipulator with three degrees of freedom are presented to test the effectiveness of and to make a performance comparison among these force controllers
Keywords :
adaptive control; dynamics; force control; robots; stability; adaptive force controllers; dynamic force control structure; dynamics compensations; environmental stiffness; model uncertainty; robotic manipulators; robustness; Adaptive control; Automatic control; Control systems; Force control; Friction; Manipulator dynamics; Nonlinear dynamical systems; Programmable control; Robot control; Torque control;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12276
