Conference
On adaptive force/motion control of constrained robots
Abstract
An adaptive control algorithm for controlling the trajectory of motion and the contact force of the end-effector for constrained robots simultaneously is presented. The development of the algorithm is based on the nonlinear coordinate transformation of N.H. McClamroch and D. Wang (1988). The passivity-based control scheme of J.J. Slotine and W. Li (1987) is adopted, where the sliding surface is expanded to include the contact force error, to …
Authors
Liu L; Han Y; Lingarkar R; Sinha NK; Elbestawi MA
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
January 1, 1989
DOI
10.1109/iecon.1989.69671
Name of conference
15th Annual Conference of IEEE Industrial Electronics Society