• DocumentCode
    488837
  • Title

    Adaptive Force/Position Control of Constrained Manipulators with Flexible Joints

  • Author

    Bernard, Brogliato ; Rogelio, Lozano-Leal

  • Author_Institution
    Laboratoire d´´Automatique de Grenoble, C.N.R.S. URA 228 ENSIEG - INPG, BP 46, 38402 Saint-Martin d´´Hÿres - FRANCE
  • fYear
    1991
  • fDate
    26-28 June 1991
  • Firstpage
    968
  • Lastpage
    969
  • Abstract
    This paper presents adaptive control strategies for flexible Joint robot manipulators subject to holonomic constraints which relies on the joint coordinates partitioning method proposed by McClamroch and Wang [1] Convergence and stability results are insured regardless of the joint flexibility value.
  • Keywords
    Actuators; Adaptive control; Equations; Force control; Manipulator dynamics; Motion control; Position control; Programmable control; Robot kinematics; Stability;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference, 1991
  • Conference_Location
    Boston, MA, USA
  • Print_ISBN
    0-87942-565-2
  • Type

    conf

  • Filename
    4791521
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=488837