Title :
Adaptive compliant motion control of flexible-joint manipulators
Author :
Colbaugh, R. ; Glass, K. ; Gallegos, G.
Author_Institution :
Dept. of Mech. Eng., New Mexico State Univ., Las Cruces, NM, USA
Abstract :
This paper presents two adaptive schemes for compliant motion control of uncertain rigid-link flexible-joint manipulators: an adaptive impedance controller and an adaptive position/force controller. The proposed strategies are simple and computationally efficient, require little information concerning the manipulator, the actuator/transmission models, or the environment, and ensure uniform boundedness of all signals and arbitrarily accurate realisation of the given compliance control objectives
Keywords :
adaptive control; compliance control; force control; manipulator kinematics; motion control; position control; uncertain systems; adaptive compliant motion control; adaptive impedance controller; adaptive position/force controller; compliance control; uncertain rigid-link flexible-joint manipulators; uniform boundedness; Actuators; Adaptive control; Control systems; Force control; Impedance; Manipulator dynamics; Motion control; Programmable control; Robot kinematics; Robust control;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.610910
