Title :
Adaptive hybrid force-position control for redundant manipulators
Author :
Lozano, R. ; Brogliato, B.
Author_Institution :
Univ. de Technol. de Compiegne, France
fDate :
10/1/1992 12:00:00 AM
Abstract :
An adaptive control scheme for manipulators with redundant degrees of freedom is presented. The control purpose is to achieve a desired interaction force between the end-effector and the environment as well as to regulate the robot tip position in the Cartesian space. This control approach does not require measurement of the joint acceleration or the force derivative
Keywords :
adaptive control; force control; position control; redundancy; robots; Cartesian space; adaptive control; end-effector; hybrid force-position control; redundant manipulators; robot tip position; Adaptive control; Force control; Force measurement; Manipulators; Motion control; Orbital robotics; Programmable control; Robot kinematics; Service robots; Torque;
Journal_Title :
Automatic Control, IEEE Transactions on
