DocumentCode
399478
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
Volume
3
fYear
2003
fDate
27-31 Oct. 2003
Firstpage
2938
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN
0-7803-7860-1
Type
conf
DOI
10.1109/IROS.2003.1249317
Filename
1249317
Link To Document