Title :
Parallel force and motion control using adaptive observer-controller
Author :
Xia, Qing Hua ; Lim, Ser Yong ; Ang, Marcelo H., Jr. ; Lim, Tao Ming
Author_Institution :
Mech. Eng. Dept., Nat. Univ. of Singapore, Singapore
Abstract :
A parallel force and motion control algorithm using observed velocity is presented in this paper. Experimental results show improved control performance in both force and motion subspaces compared with the same controller using filtered velocity.
Keywords :
adaptive control; force control; motion control; observers; adaptive observer-controller; motion control; observed velocity; parallel force control; Adaptive control; Force control; Force feedback; Friction; Mechanical engineering; Motion control; Orbital robotics; Programmable control; Pulp manufacturing; Velocity control; Parallel force and motion control; adaptive control; friction compensation; geometric uncertainty; observer velocity;
Conference_Titel :
Systems, Man and Cybernetics, 2008. SMC 2008. IEEE International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-2383-5
Electronic_ISBN :
1062-922X
DOI :
10.1109/ICSMC.2008.4811779
