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NMT Community Archive >
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Wedeward, Kevin J. >
Please use this identifier to cite or link to this item:
http://hdl.handle.net/10136/14
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| Title: | Adaptive Compliance Control of Electrically-Driven Manipulators |
| Authors: | Colbaugh, R.
Glass, K.
Wedeward, K. |
| Keywords: | manipulators
motion control
end effectors
force control
torque contol
electric impedance
electric variables control
actuators
mathematical models |
| Issue Date: | Dec-1996 |
| Publisher: | IEEE |
| Citation: | Proceedings of the 35th Conference on Decision and Control, Kobe, Japan, December 1996 |
| Abstract: | This paper presents two adaptive schemes for
compliant motion control of uncertain rigid-link,
electrically-driven manipulators. The first strategy
is developed using an adaptive impedance control approach
and is appropriate for tasks in which the dynamic
character of the end-effecter/environment interaction
must be controlled, while the second scheme is
an adaptive position/’ force controller and is useful for
those applications that require independent control of
end-effecter position and contact force. The proposed
controllers are very general and computationally efficient,
and can be implemented with virtually no a priori
information concerning the manipulator/actuator
dynamic model or the environment. It is shown that
the schemes ensure (semiglobal) uniform boundedness
of all signals, and that the ultimate size of the system
errors can be made arbitrarily small. |
| URI: | http://hdl.handle.net/10136/14 |
| ISBN: | 0-7803-3590-2 |
| Appears in Collections: | Wedeward, Kevin J.
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Files in This Item:
| File |
Description |
Size | Format |
|---|
| 1996IEEECDC.pdf | | 1043Kb | Adobe PDF | View/Open |
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