DocumentCode
300049
Title
An adaptive approach to constrained robot motion control
Author
Zhen, Robert R Y ; Goldenberg, Andrew A.
Author_Institution
Dept. of Mech. Eng., Toronto Univ., Ont., Canada
Volume
2
fYear
1995
fDate
21-27 May 1995
Firstpage
1833
Abstract
In this paper, a new method of design of position/force controller for robots with parametric uncertainty is presented. An adaptive control scheme is proposed for constrained robot motion control. The proposed control scheme possesses an important practical feature: under the suggested controller, position, velocity, acceleration and force errors converge to zero without requiring measurements or estimates of acceleration and force derivative. Computer simulation results are also presented for illustration
Keywords
adaptive control; control system synthesis; force control; motion control; position control; robot dynamics; uncertain systems; adaptive control; constrained motion control; dynamics; force control; parametric uncertainty; position control; robot; Acceleration; Accelerometers; Adaptive control; Force control; Force measurement; Motion control; Programmable control; Robot control; Robot motion; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location
Nagoya
ISSN
1050-4729
Print_ISBN
0-7803-1965-6
Type
conf
DOI
10.1109/ROBOT.1995.525535
Filename
525535
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