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
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;
Conference_Titel :
American Control Conference, 1991
Conference_Location :
Boston, MA, USA
Print_ISBN :
0-87942-565-2