Title :
A unified approach to stable adaptive force/position control of robot manipulators
Author :
Meng, Q. H Max ; Lu, Wu-Sheng
Author_Institution :
Dept. of Electr. Eng., Alberta Univ., Edmonton, Alta., Canada
fDate :
29 June-1 July 1994
Abstract :
In this paper, a unified approach to stable adaptive force/position control of robot manipulators is proposed, which is practically implementable credited to the utilization of the recursive formula of the robot regressor dynamics. The proposed approach is capable of estimating unknown dynamic parameters in real time as well as controlling both the position and contact force of the robot tip in a stable and unified manner. The proposed algorithm has been implemented on a PUMA 560 manipulator.
Keywords :
adaptive control; dynamics; force control; manipulators; parameter estimation; position control; PUMA 560; adaptive control; dynamic parameter estimation; force control; manipulators; position control; regressor dynamics; robot; Adaptive control; Force control; Force measurement; Force sensors; Impedance; Jacobian matrices; Manipulator dynamics; Position control; Programmable control; Robot sensing systems;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.751723
