The end e ector of a robotic arm is required to keep a contact on the contour of the constraint surface in tasks such as deburring and grinding. Being di erent from contacts resulted from general mechanical pairs, such a contact is unidirectional, or equivalently, the contact force can only act alon
Force control of high-speed, lightweight robotic manipulators
β Scribed by H.-J. Su; B.-O. Choi; K. Krishnamurthy
- Publisher
- Elsevier Science
- Year
- 1990
- Tongue
- English
- Weight
- 416 KB
- Volume
- 14
- Category
- Article
- ISSN
- 0895-7177
No coin nor oath required. For personal study only.
π SIMILAR VOLUMES
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
Industrial robots manipulating various payloads represent non-linear and time-varying systems which should be controlled by robust adaptive controllers with self-adjustable parameters, suitable for microcomputer implementation.
A nonlinear model reference adaptive controller based on hyperstability approach, is presented for the control of robot manipulators. Use of hyperstability approach simplifies the stability proof of the adaptive system. The unknown parameters of the system, as well as its variable payload, are estim