Adaptive position force control of robot manipulators without velocity measurements: Theory and experimentation

被引:74
作者
deQueiroz, MS
Hu, J
Dawson, DM
Burg, T
Donepudi, SR
机构
[1] Department of Electrical and Computer Engineering, Center for Advanced Manufacturing, Clemson University, Clemson
来源
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS | 1997年 / 27卷 / 05期
基金
美国国家科学基金会;
关键词
D O I
10.1109/3477.623233
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this paper, we design an adaptive position/force controller For robot manipulators during constrained motion, The proposed controller can compensate far parametric uncertainty while only requiring measurements of link position and end-effector force, A filtering technique is utilized to produce a pseudo-velocity error signal and thus, eliminate the need for link velocity measurements. The control strategy provides semiglobal asymptotic tracking performance for the end-effector position and the interaction force between the constraint and the end-effector. An experimental implementation of the proposed controller on a two-link planar robot is also presented.
引用
收藏
页码:796 / 809
页数:14
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