Unified approach to adaptive control of robotic manipulators

Author

Kelly, Rafael ; Carelli, Ricardo

Author_Institution

Univ. Nacional Autonoma de Mexico, Mexico

fYear

1988

fDate

7-9 Dec 1988

Firstpage

1598

Abstract

A unified approach for design and stability analysis of adaptive controllers for robotic manipulators is presented. A general control law structure is proposed which reduces, by a suitable choice of some design matrices, to motion, impedance, force and dynamic hybrid control. Motion control considers the robot arm moving in a free space, and asymptotic motion-trajectory-following is desired. Impedance control is concerned with the control of a robot which can be in contact with the environment, where a dynamic relationship between the position error and interacting forces is desired. Force control assumes that the end-effector is attached to the environment, and force-trajectory-following is desired. Dynamic hybrid control attempts to control motion or impedance in certain directions and force in the others

Keywords

adaptive control; control system synthesis; robots; stability; adaptive control; asymptotic motion-trajectory-following; control design; dynamic hybrid control; force control; force-trajectory-following; impedance control; interacting forces; motion control; position error; robotic manipulators; stability analysis; unified approach; Adaptive control; Error correction; Force control; Impedance; Manipulator dynamics; Motion control; Orbital robotics; Programmable control; Robot control; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1988., Proceedings of the 27th IEEE Conference on

Conference_Location

Austin, TX

Type

conf

DOI

10.1109/CDC.1988.194597

Filename

194597