Digital Library of Zielona Góra contains 9 272 digital objects
Object
Title: An adaptive force/position control scheme for robot manipulators
Contributor:
Subtitle:
Recent Developments in Robotics
Group publication title:
Abstract:
An adaptive control scheme is proposed for controlling both the force and position for a robot manipulator in contact with a compliant surface. The controller is developed in the framework of parallel control of inverse-dynamics type. Adaptation to unknown stiffness is achieved by resorting to a suitable estimate update law driven by the force error. ; The stability of the system is formally proved, which ensures the tracking of both the position along the unconstrained directions and the force along the constrained direction. Simulation results are presented to show the applicability of the technique to practical manipulation tasks involving interaction with the environment.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
Pages:
Source:
AMCS, volume 7, number 2 (1997) ; click here to follow the link
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Repository > Types of work > Articles
- Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (1997)
Last modified:
Jul 14, 2025
In our library since:
Nov 18, 2020
Number of object content hits:
174
All available object's versions:
https://zbc.uz.zgora.pl/repozytorium/publication/64496
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Show description in OAI-PMH format:
| Edition name | Date |
|---|---|
| An adaptive force/position control scheme for robot manipulators | Jul 14, 2025 |
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