Title :
Real-time adaptive control for haptic manipulation with Active Observers
Author :
Cortesao, Rui ; Park, Jaeheung ; Khatib, Oussama
Author_Institution :
Electr. & Comput. Eng. Dept., Coimbra Univ., Portugal
Abstract :
The paper discusses compliant motion control using Active Observers (AOBs) applied in robotic manipulators. Stochastic estimation strategies for haptic manipulation are introduced. Stability and robustness analysis is made as a function of stiffness mismatches. Real time adaptation is discussed.
Keywords :
adaptive control; compliance control; estimation theory; manipulators; motion control; observers; real-time systems; robust control; stability; stochastic processes; Active Observers; compliant motion control; haptic manipulation; real-time adaptive control; robotic manipulators; robustness analysis; stability; stiffness; stochastic estimation; Adaptive control; Control system synthesis; Force control; Haptic interfaces; Iron; Manipulator dynamics; Motion control; Robot kinematics; Robust stability; Torque control;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249317
