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Robust motion and force control of constrained manipulators by learning

✍ Scribed by Danwei Wang; Y.C. Soh; C.C. Cheah

Publisher
Elsevier Science
Year
1995
Tongue
English
Weight
677 KB
Volume
31
Category
Article
ISSN
0005-1098

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✦ Synopsis

Abtdmet-Constrained motion control of robotic manipulators represents an important control task in many industrial applications. In this paper, a learning control problem is solved for simultaneous motion and force tracking of a robotic manipulator whose end-effector is in contact with the constraint environment.

A robust learning control algorithm is proposed for precise path tracking of robotic manipulators in the presence of state disturbances, output measurement noises and errors in initial conditions.

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## Abstract This paper proposes a robust adaptive motion/force tracking controller for holonomic constrained mechanical systems with parametric uncertainties and disturbances. First, two types of well‐known holonomic systems are reformulated as a unified control model. Based on the unified control