Adaptive position/force control of robot manipulators without velocity measurements: theory and experimentation
โ Scribed by De Queiroz, M.S.; Jun Hu; Dawson, D.M.; Burg, T.; Donepudi, S.R.
- Book ID
- 117874346
- Publisher
- IEEE
- Year
- 1997
- Tongue
- English
- Weight
- 632 KB
- Volume
- 27
- Category
- Article
- ISSN
- 1083-4419
No coin nor oath required. For personal study only.
๐ SIMILAR VOLUMES
Based on a novel orthogonalized sliding mode error co-ordinate system, a passivity-based adaptive sliding mode control that yields the global exponential convergence of position and force tracking errors is proposed. The holonomic constraint is efficiently manipulated to derive two orthogonal transf
A variable structure adaptive method is developed for robust motion and force tracking control of robot manipulators in the presence of uncertainties in parameters of robot dynamics, contact surface, and external disturbances. The method takes advantages of both variable structure control (VSC) and