Referenced Items are not available for this document.
An adaptive force control, scheme is presented that enables a single-link mechanism with joint flexibility to track a desired force trajectory. A dynamic model of the link system is derived, based on which a two-stage controller is constructed. It is shown that although all the system parameters including environment stiffness are unknown except for some of their bounds, all signals inside the closed-loop system remain uniformly bounded. Moreover, the force tracking error is driven to zero asymptotically. Simulation examples are provided to demonstrate the effectiveness of the proposed controller
Published in:
Robotics and Automation, IEEE Transactions on
(Volume:7
,
Issue:
4
)
Date of Publication: Aug 1991
- Page(s):
- 540 - 545
- ISSN :
- 1042-296X
- INSPEC Accession Number:
- 4007709
- Digital Object Identifier :
- 10.1109/70.86084
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Aug 1991
- Sponsored by :
- IEEE Robotics and Automation Society
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