Adaptive position/force control of robot manipulators without velocity measurements

Author

Hu, J. ; Queiroz, M. ; Burg, T. ; Dawson, D.

Author_Institution

Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA

Volume

1

fYear

1995

fDate

21-27 May 1995

Firstpage

887

Abstract

In this paper, we present an adaptive partial state feedback position/force controller for rigid-link robot manipulators under constrained motion. The proposed controller can compensate for parametric uncertainty while only requiring measurements of link position and end-effector force. The control strategy provides semi-global asymptotic tracking performance for the position of the end-effector and the interaction force between the constraint and the end-effector

Keywords

adaptive control; compensation; force control; manipulators; position control; state feedback; adaptive partial state feedback position/force controller; constrained motion; end-effector force; end-effector position; interaction force; link position; parametric uncertainty compensation; rigid-link robot manipulators; semi-global asymptotic tracking performance; velocity measurements; Adaptive control; Force control; Force feedback; Force measurement; Manipulators; Motion control; Position measurement; Programmable control; Robot control; State feedback;

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.1995.525395

Filename

525395