Title :
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
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;
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.1995.525395
