By Topic

Composite adaptive control of constrained robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Jing Yuan ; Dept. of Mech. Eng., Windsor Univ., Ont., Canada

Force control is the main challenge in force/motion control of constrained robots. This paper presents a composite adaptive controller to deal with the force error. The proposed controller is designed and analyzed in two steps. In the first step, the force error is shown to be asymptotically proportional to the residual force. A force feedback signal is introduced to reduce the force error. The second step presents an analytical study on a composite adaptive controller with a focus on the convergence of the residual force. It is proven that the proposed adaptive controller is able to achieve zero tracking and force errors without the persistent excitations

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:12 ,  Issue: 4 )