Title :
Adaptive position/force control of BDC-RLED robots without velocity measurements
Author :
de Queiroz, M.S. ; Dawson, D.M. ; Canbolat, H.
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
Abstract :
This paper considers the problem of controlling the position and force of a constrained rigid-link electrically-driven robot manipulator actuated by brushed DC motors (BDC-RLED robot). Based on inexact knowledge of almost all of the system parameters and the lack of link velocity measurements, the integrator backstepping approach is used to design a voltage-level, adaptive position/force controller which ensures semi-global asymptotic tracking for the end-effector position, velocity, and force
Keywords :
DC motor drives; adaptive control; force control; manipulators; position control; BDC-RLED robots; adaptive position/force control; brushed DC motors; constrained rigid-link electrically-driven robot manipulator; end-effector velocity; integrator backstepping approach; link velocity measurements; semi-global asymptotic tracking; Adaptive control; Backstepping; DC motors; Force control; Force measurement; Manipulators; Programmable control; Robots; Velocity control; Velocity measurement;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.620090
