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:
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)
- 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:
Sep 2, 2021
In our library since:
Nov 18, 2020
Number of object content hits:
90
All available object's versions:
https://zbc.uz.zgora.pl/repozytorium/publication/64496
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International Journal of Applied Mathematics and Computer Science (AMCS)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 26 (2016)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 25 (2015)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 24 (2014)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 23 (2013)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 22 (2012)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 21 (2011)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 20 (2010)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 19 (2009)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 18 (2008)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 17 (2007)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 16 (2006)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 15 (2005)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 13 (2003)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 12 (2002)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 11 (2001)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 10 (2000)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 9 (1999)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 8 (1998)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 1 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 2 (1997)
- Control of redundant robots under end-effector commands: A case study in underactuated systems
- Adaptive and robust control of flexible joint robots in constrained motion
- On the stability of nonlinear PD control
- An adaptive force/position control scheme for robot manipulators
- Controllability for mechanical systems with symmetries and constraints
- Time-optimal control of redundant manipulators
- Modelling and simulation of assembly processes with robots
- Parameter identification in robot control
- Singularity avoidance in redundant robot kinematics: A dynamical system approach
- Two-way recursive decomposition of the free-flying robot mass matrix
- Time-optimal trajectory planning in dynamic environments
- Motion generation in Cartesian space for industrial robots with actuator limitations
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 3 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 4 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 1 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 6 (1996)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 5 (1995)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 4 (1994)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 3 (1993)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 2 (1992)
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International Journal of Applied Mathematics and Computer Science (AMCS),volume 1 (1991)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 26 (2016)
| Edition name | Date |
|---|---|
| An adaptive force/position control scheme for robot manipulators | Sep 2, 2021 |
