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Coordinated Motion and Force Control of Multi-Limbed Robotic Systems

✍ Scribed by Steven Dubowsky; Craig Sunada; Constantinos Mavroidis

Book ID
110268142
Publisher
Springer US
Year
1999
Tongue
English
Weight
427 KB
Volume
6
Category
Article
ISSN
0929-5593

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✍ Bin Yao; S.P. Chan; Danwei Wang πŸ“‚ Article πŸ“… 1994 πŸ› Elsevier Science 🌐 English βš– 436 KB

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