Title :
Eigenvalue assignment and performance index based force-position control with self-tuning for robotic manipulators
Author :
Houshangi, N. ; Koivo, A.J.
Author_Institution :
Purdue University, West Lafayette, IN
Abstract :
The force-position controller is designed for robotic manipulator in the Cartesian coordinate system. A time series model is used for the controller design. An adaptive controller with self-tuning is determined (i) by minimizing a well defined quadratic performance criterion (ii) by pole placement. Comparison is made between the performance of the two controller. Successful simulations of force-position control using both controllers with self-tuning are presented.
Keywords :
Automatic control; Control systems; Eigenvalues and eigenfunctions; End effectors; Force control; Jacobian matrices; Manipulators; Performance analysis; Robot kinematics; State feedback;
Conference_Titel :
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
DOI :
10.1109/ROBOT.1987.1087793
