Adaptive force/motion control of constrained robot manipulators

Author

Yu, H. ; Seneviratne, L.D. ; Earles, S.W.E.

Author_Institution

Dept. of Mech. Eng., King´´s Coll., London, UK

fYear

1993

fDate

13-16 Sep 1993

Firstpage

505

Abstract

Following the line of the dynamic hybrid control method given by McClamroch and Wang (1988), two reduced, unconstrained robot models, in which the constraints are satisfied automatically, are introduced. An exponentially stable control law for both position tracking errors and force tracking errors is presented based on Lyapunov stability theory. When there exist robot dynamics parameter uncertainties, an adaptive control is proposed based on the previous control structure. The control law ensures the asymptotical convergence of the position tracking errors and boundedness of the force tracking errors

Keywords

Lyapunov methods; adaptive control; force control; position control; robots; stability; tracking; Lyapunov stability; asymptotical convergence; constrained robot manipulators; dynamic hybrid control; dynamics parameter uncertainties; force tracking errors; position tracking errors; Adaptive control; Automatic control; Error correction; Force control; Manipulators; Motion control; Motion planning; Programmable control; Robotics and automation; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1993., Second IEEE Conference on

Conference_Location

Vancouver, BC

Print_ISBN

0-7803-1872-2

Type

conf

DOI

10.1109/CCA.1993.348352

Filename

348352