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

Volume

1

fYear

1995

fDate

21-27 May 1995

Firstpage

591

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on

Conference_Location

Nagoya

ISSN

1050-4729

Print_ISBN

0-7803-1965-6

Type

conf

DOI

10.1109/ROBOT.1995.525348

Filename

525348