DocumentCode
343237
Title
Trajectory/force control for robotic manipulators using sliding-mode and adaptive control
Author
Lanzon, A. ; Richards, R.J.
Author_Institution
Dept. of Eng., Cambridge Univ., UK
Volume
3
fYear
1999
fDate
1999
Firstpage
1940
Abstract
Presents a robust trajectory/force controller for non-redundant rigid manipulators designed using sliding-mode and adaptive control techniques. Sliding-mode control is used to take care of the uncertain robot dynamics, whereas adaptive control is used to estimate the unknown environment stiffness. Experimental results show that trajectory tracking and force regulation are achieved with bounded errors. The paper assumes known location and geometry of the environment
Keywords
adaptive control; control system synthesis; force control; manipulator dynamics; manipulator kinematics; motion control; position control; robust control; variable structure systems; nonredundant rigid manipulators; robotic manipulators; sliding-mode control; trajectory/force control; uncertain robot dynamics; unknown environment stiffness; Adaptive control; Equations; Force control; Force measurement; Jacobian matrices; Manipulator dynamics; Motion control; Robots; Sliding mode control; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1999. Proceedings of the 1999
Conference_Location
San Diego, CA
ISSN
0743-1619
Print_ISBN
0-7803-4990-3
Type
conf
DOI
10.1109/ACC.1999.786198
Filename
786198
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