{"title":"An adaptive approach to constrained robot motion control","authors":"Robert R. Y. Zhen, A. Goldenberg","doi":"10.1109/ROBOT.1995.525535","DOIUrl":null,"url":null,"abstract":"In this paper, a new method of design of position/force controller for robots with parametric uncertainty is presented. An adaptive control scheme is proposed for constrained robot motion control. The proposed control scheme possesses an important practical feature: under the suggested controller, position, velocity, acceleration and force errors converge to zero without requiring measurements or estimates of acceleration and force derivative. Computer simulation results are also presented for illustration.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"476 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"28","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBOT.1995.525535","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 28
Abstract
In this paper, a new method of design of position/force controller for robots with parametric uncertainty is presented. An adaptive control scheme is proposed for constrained robot motion control. The proposed control scheme possesses an important practical feature: under the suggested controller, position, velocity, acceleration and force errors converge to zero without requiring measurements or estimates of acceleration and force derivative. Computer simulation results are also presented for illustration.
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