Adaptive position/force control of BDC-RLED robots without velocity measurements

Author

de Queiroz, M.S. ; Dawson, D.M. ; Canbolat, H.

Author_Institution

Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA

Volume

1

fYear

1997

fDate

20-25 Apr 1997

Firstpage

525

Abstract

This paper considers the problem of controlling the position and force of a constrained rigid-link electrically-driven robot manipulator actuated by brushed DC motors (BDC-RLED robot). Based on inexact knowledge of almost all of the system parameters and the lack of link velocity measurements, the integrator backstepping approach is used to design a voltage-level, adaptive position/force controller which ensures semi-global asymptotic tracking for the end-effector position, velocity, and force

Keywords

DC motor drives; adaptive control; force control; manipulators; position control; BDC-RLED robots; adaptive position/force control; brushed DC motors; constrained rigid-link electrically-driven robot manipulator; end-effector velocity; integrator backstepping approach; link velocity measurements; semi-global asymptotic tracking; Adaptive control; Backstepping; DC motors; Force control; Force measurement; Manipulators; Programmable control; Robots; Velocity control; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.620090

Filename

620090