DocumentCode
335182
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
Volume
1
fYear
1994
fDate
29 June-1 July 1994
Firstpage
200
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1994
Print_ISBN
0-7803-1783-1
Type
conf
DOI
10.1109/ACC.1994.751723
Filename
751723
Link To Document