Title :
Adaptive control for robot manipulators with sliding mode error coordinate system: free and constrained motions
Author :
Parra-Vega, Vicente ; Arimoto, Suguru
Author_Institution :
Fac. of Eng., Tokyo Univ., Japan
Abstract :
Based on a novel error coordinate system which induces a sliding mode, two passivity-based adaptive controllers are proposed. The control strategies, similar to the one proposed by Slotine-Li (1987) for free motion and by Arimoto et al. (1993, 1994) for constrained motion, give rise to the exponential convergence of tracking errors. Computer simulation data for free and constrained motions show a high performance
Keywords :
adaptive control; control system synthesis; convergence of numerical methods; force control; position control; robot dynamics; tracking; variable structure systems; adaptive control; constrained motion; exponential convergence; force tracking; free motion; manipulators; position tracking; robot; robustness; sliding mode control; sliding mode error coordinate system; tracking errors; Adaptive control; Computer errors; Control systems; Convergence; Error correction; Manipulators; Motion control; Programmable control; Robot kinematics; Sliding mode control;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525348
