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
An adaptive force/position regulator for robot manipulators
β Scribed by Bruno Siciliano; Luigi Villani
- Publisher
- John Wiley and Sons
- Year
- 1993
- Tongue
- English
- Weight
- 744 KB
- Volume
- 7
- Category
- Article
- ISSN
- 0890-6327
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