Title :
Hybrid force/position control for manipulators with motor dynamics using a sliding-adaptive approach
Author_Institution :
Autom. & Robotic. Res. Inst., Texas Univ., Arlington, TX, USA
Abstract :
A novel sliding-adaptive controller is developed which can achieve robustness to parameter variations in both manipulator and motor. When the system is in sliding mode, force, position and redundant joint velocity errors will approach zero irrespective of parametric uncertainties. No joint acceleration measurement is needed
Keywords :
adaptive control; force control; manipulators; position control; robust control; variable structure systems; hybrid force/position control; manipulators; motor dynamics; redundant joint velocity errors; robustness; sliding-adaptive approach; Adaptive control; Force control; Manipulator dynamics; Orbital robotics; Position control; Programmable control; Robotics and automation; Robots; Robust control; Torque;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.529271
