Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators

Automatica ◽  
2004 ◽  
Vol 40 (12) ◽  
pp. 2111-2119 ◽  
Author(s):  
Chian-Song Chiu ◽  
Kuang-Yow Lian ◽  
Tsu-Cheng Wu
Keyword(s):  
Tracking Control ◽  
Robot Manipulators ◽  
Control Design ◽  
Adaptive Motion ◽  
Force Tracking ◽  
Robust Adaptive ◽  
Constrained Robot

Velocity and Force Observers for the Control of Robot Manipulators

2013 ◽  
Vol 135 (6) ◽  
Author(s):  
Marco A. Arteaga–Pérez ◽  
Juan C. Rivera–Dueñas ◽  
Alejandro Gutiérrez–Giles
Keyword(s):  
Dynamic Model ◽  
Tracking Control ◽  
Inverse Kinematics ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Asymptotical Stability ◽  
Joint Angles ◽  
Force Tracking

In this paper, position/force tracking control for rigid robot manipulators interacting with its environment is considered. It is assumed that only joint angles are available for feedback, so that velocity and force observers are designed. The principle of orthogonalization is employed for this particular purpose and some of its main properties are fully exploited to guarantee local asymptotical stability. Only the force observer requires the dynamic model of the robot manipulator for implementation, and the scheme is developed directly in workspace coordinates, so that no inverse kinematics is required. The proposed approach is tested experimentally and compared with a well–known algorithm.

Adaptive fuzzy nonlinear ℋ∞ tracking control design of a constrained robot system

2008 ◽  
Author(s):  
Samuel L. Nogueira ◽  
Tatiana de F. P. A. T. Pazelli ◽  
Adriano A. G. Siqueira ◽  
Marco H. Terra
Keyword(s):  
Tracking Control ◽  
Control Design ◽  
Robot System ◽  
Adaptive Fuzzy ◽  
Constrained Robot
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