Compliant motion control for non-redundant rigid robotic manipulators

Autor:	Alexander Lanzon, R. J. Richards
Rok vydání:	2000
Předmět:	Engineering Adaptive control Basis (linear algebra) business.industry Dynamics (mechanics) Stiffness Control engineering Motion control Computer Science Applications Control and Systems Engineering Control theory medicine Trajectory Robot medicine.symptom business
Zdroj:	International Journal of Control. 73:225-241
ISSN:	1366-5820 0020-7179
DOI:	10.1080/002071700219777
Popis:	A novel robust trajectory/force controller is developed on the basis of a combination of sliding-mode and adaptive control techniques. Exact knowledge of robot dynamics and environment stiffness is not required. The controller is constructed so as to track reference trajectories in the unconstrained directions and to regulate force at a desired value in the constrained directions. Changes in constraints are also taken into account in the design of the control law. The synthesis presented assumes a non-redundant rigid manipulator and known location/geometry of the environment. Simulation and experimental results are also presented.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::7b6bb359f1fb87f52b94cd4346da42ee https://doi.org/10.1080/002071700219777 Zobrazit plný text záznamu