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
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;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.786198
